You can schedule on appointment or walk in. Once the appraisal begins it will take maybe 20 minutes for a visual inspection and they will give you a preliminary offer, contingent on a test drive by their mechanics. If, within 7 days of the preliminary offer, you decide to move forward they will test drive and check the drive train before giving you the final appraisal (quote).
To my knowledge you can get a preliminary quote online. We did, but once we went in they give us a better offer in person.
You have to go into a store and ask for an appraisal. Because they will want to see the car to give you the best price.
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