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Unfortunately, there is no provision for "buyer's remorse" in the purchase of a vehicle, as in some transactions where the buyer, or consumer has 3 days to void an agreement.
you asked if you could legally return the vehicle to the dealer. The correct legal Answer is "No". The fact that an Agreement of Sale was signed makes the transaction leqally binding on both the dealer and the buyer.
From a legal standpoint, the dealer has the right to sue you for Specific Performance and ask the Court to compel you to go through with the transaction.
Do dealers generally do this ? No, As a practical matter, dealers do not make a practice of suing a buyer to force him to go through with the sale because it takes too much time, it involves legal fees, and it makes the dealer look bad. So, it is extremely rare for a dealer to take a prospective buyer to Court to force him to go through with the transaction. A dealer will consider suing the buyer in situations where the vehicle was specially ordered for the buyer and was fitted with expensive features which the buyer ordered and it would be nearly impossible for the dealer to sell it to an average vehicle purchaser.
So, just return it to the dealer as soon as possible, and tell the dealer any excuse why you cannot buy the vehicle right now.
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So, although the dealer can legally force a buyer to go through with the purchase, as a practical matter, he will not take that route. If you have changed your mind about the vehicle and want to return it, I would suggest that you do not drive it anywhere, except to take it back to the dealer. You do not want to put any mileage on the vehicle and you do not want to risk getting into an accident with the vehicle because then the dealer, for sure, will not accept it as a return.