Here in CO, they use a complex formula that takes into account age, empty weight, and sale price. I paid "$2500" for my 91; it is old enough to be at the minimum lic fee. I think it was about $150, includes sales tax (6% or so), title, registration, ownership tax, etc. Since I was married (now divorced, under CO common law), and over 23, I pay $325 a YEAR for liability insurance, and have an accident on my record that goes off this month.
It is kind of convenient to pay all related taxes at the DMV, instead of having to go to the courthouse to get a property tax affidavit from the county clerk (M-F 8-4), saying you paid your taxes, then go to the DMV to get tags, which have weight limits of 6, 12, 18, 24, etc thousand pounds. Mom has to do that in MO. Tags are about $40 a year.
But if you buy a new vehicle (CO), it is well over $1000 to get your tags, because of the ownership tax. Thank God these things last so long; I couldnt afford to tag a new one.