It's always better to make an appointment because lines will be shorter the problem is that appointments are usually not available for at least two weeks. Good luck.
These questions are for local Google guides, but as far as I know you can walk in wait in line for a long time and take it. Best time to go to the Capitola DMV is about 4. They close at 5 and they want to go home. So either make an appointment but if you don't have the time just go there at 4 Monday have all your paperwork ready and be prepared to do paperwork and get it done.
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