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If so, you can’t legally sell it until after you’ve settled the finance.
If VAT registered, as you will be selling it to a connected person, the VAT due will also be based on market value.
The purchaser can settle the outstanding finance directly and then take ownership of the vehicle as that is what happens when someone part exchanges a vehicle on finance with a dealer
Do you charge Vat on disposal of a second hand car?
Limited company owns a van, can we legally sell it to a family member for the settlement figure on the finance, then sell it on for more money?
Probably not.
However, the OP refers to a 'van' so yes, they probably should (with a very few exceptions), unless not VAT registered of course.
The HP will be settled, but was wanting to sell/transfer ownership to a family member for x amount then sell the vehicle to the new buyer for the agreed amount which would be higher than the HP amount. But wondered if this was possible or would it still be classed as benefit in kind by selling it on for profit after a transfer in name?