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In my area the soonest appointment was 6 weeks away at a location that took 45 minutes to reach by car.

Experience is subjective and varies depending on which one you go to, my first interaction was at the Oakland DMV where I had an appointment for the drive test, they got round to me close to 2hrs after my appointment. The DMV in San Francisco has horrendously long lines with very slow processing times.

I once had to deal with <private company> and they made me wait an <exorbitant amount of time> therefore, all private companies are inefficient.

Did I do it right?

Not really, but whatever works rocks your boat!

Excellent point. I've never waited as long at the DMV as I I do for weekend brunch.

Oakland near the Coliseum is the place to go. Quick appointment times, often same day, and they are way friendlier than the Oak Street branch in SF.

It might vary by state? CA DMV around the Bay Area is horrible, but New York is quite pleasant.