I also live in Missouri. I recently bought a new car and I sold my old pickup private party on Craigslist. Missouri titles have a “Notice of sale” portion of the title that is filled out and torn off when you transfer a title. The sales price is on this section and I just took this in to the DMV when I titled the new car. They calculated the sales tax based on the purchase price of the new car less the sales p[rice of the pickup. I think you can submit the notice of sale and get a voucher for the sales tax discount as well but I’ve never done this. There is a 6 month limit on the separation of the transactions.
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