Jorge is correct. Appointments are not required. They break you off into two lines outside the entrance. One is appointments and the other is non-appointments. Try and arrive prior to 3pm for anything, but the earlier the better with the DMV. They line people up outside so distance those indoors.
Yes written tests are available without an appointment. You'll be getting a number for you to wait in line. It took me 10 mins wait to take the test.
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