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Is there a cost in putting up a road vehicle in the Register of Approved Vehicle (RAV)?

Yes.  The Road Vehicle Standards Rules 2019 (the Rules) require the RAV entry charge to be paid before a vehicle is entered on the RAV.  However, a vehicle type approval holder can request to enter into an agreement with the Department to pay RAV entry charges after vehicles have been entered on the RAV.  More information can be found HERE.