No, you do not need an appointment, and honestly it's kinda a crapshoot about the best time to go. I went at like 2:00pm on a Tuesday and got in and out in less than 30 minutes.
With Covid, there is no best time anymore. There's always a line, it's shortest if ur there when they open. For the license places, it's check in on your phone when u get there and wait to be texted or called, there are instructions on a board. Title places require an appointment.
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