Do I have to sell my car to a friend for some nominal anount? Or can I just GIVE it to her without tax penalties to her or me?

I gave my car to my son and didn't have to pay tax penalties just transfer and tags. As far as a friend not sure.

You can just give it to. them or sell it them for a dollar

Supposedly you could sell it for a dollar and that should be okay I'm not positive though check with somebody in the legal field