Get there when they open in the morning and get a ticket number. You will then be texted when it is your turn. They run out of numbers for the day pretty quickly so I'd suggest getting there as early as possible after they open.
You don't need an appointment unless it's for RealID, but you need to make sure you go to the right DMV. At the moment each office is doing only especific process. For example some are only providing ID related services and some registrations related services. So find out where to go first. Second you need to get there befofe 8 a.m. to have a chance to get a ticket number for the day. They have a set number of people they can see. I went there at 7.45 am and my number was 175.
Most services I think first come first serve , except getting Real ID driver license ,need appointment , I applied for handicap placard , not much of a demand as license and registration
I don't believe they take appointments. Honestly get there 2 hours before they open (6am) to avoid waiting 6 hours. I got there at 7am and left at 2pm. Would also recommend bringing a chair
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