The others have basically said what has to be done but if you want to get in and out quickly I would try a DMV office rhatcia in a different town as in Sommerville
You might be able to do the renewal completely online without a trip to the DMV. They tried to make more processes fully online. But if you do need to go, go to the website and make an appt. I thought it was easier getting on their calendar than at the doctors appt! Then when you go, you see the first desk. They'll call you. Honestly I would prepare for a long processes, but my experience was very efficient and quick.
Google the Motor Vehicle website and you should be able to make an appointment. However even if you make an appointment you still have to wait for your number to be called.
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