There are 2 options. 1 is to call DMV and make an appointment or 2 go on DMV's website and make one. Either way it might take a while to get an appointment. They're opening up more slots but people have been waiting a while for DMV to kind of get back to some sort of normalcy. I've found doing both ways and asking for multiple task is the best way to fulfil all your DMV needs.
Just walk up there like i did i got an appointment for next day
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