^don't sell it. that'll guarantee that you have to pay taxes. are you friends with anyone at your bank? the best way to do it is to try and have it written off as either an even trade or a gift. (gift is the best) i can't remember how the trade thing works, but if you can find a way to make it a gift then it's tax free title transfer (and it may not cost you anything to transfer either...)
when transferring the title for my car to be ENTIRELY in my name we had it written as a gift from my dad to me (he cosigned since my credit was good enough, but my monthly income was too low to be financed by audi) the lady at the bank was nice and took care of all the papers, and didnt charge us anything. took about 10 mins
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