Cheapest car registration process to avoid fees when transfering vehicle title from one family member to another? (Miami: sales)

[byemia]

A family member brought a car to Miami, Florida. They went through everything and it is registered and insured in that person's name currently.

They now want to give the car to me (also in Florida), living at the same address where the car is registered, because I drive it now and can add it to a joint policy with my wife, thus saving money over having it independently insured in my family member's name.

The family member wants to transfer title to me so they are not liable as owner if I get into an accident.

What is the easiest, cheapest way to transfer the title and not have to pay so many taxes, fees, etc. all over again just because the owner is changing?

I even have an old tag from my last car, that died earlier this week (that is why I now drive my family member's car exclusively), if that makes things even cheaper since I have a new Florida tag for me if necessary.

[MiamiRob]

To avoid the sales tax your relative is going to have to put down a sales price of $0 since they are giving you the car as a gift.
I think all of the other fees will still apply though.

[HarryWho?]

If the tag you have is in your name, just have the title switched to your name as a gift. If your registration is current, it will cost about $90 to transfer ownership.