You’ll need a permit if any of these apply:
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Your truck is non‑Washington registered and you plan to drive it in WA without full registration → you’ll likely need a trip permit.
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You don’t pay WA fuel taxes (i.e. you're operating under IFTA from another jurisdiction) → you may need a fuel permit when entering Washington.
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Your load or truck exceeds WA’s standard legal limits (width, height, weight, length) → you’ll need an oversize/overweight permit.