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Hi from Just Answer. DTF-803 is the form used to record the sales tax for such a transfer.
sorry, it's DTF-802. And yes, you can transfer to a non-family member without sales tax, if it's done as a gift. The form (http://www.dmv.ny.gov/forms/dtf802.pdf) does not make specific mention of a domestic partner, but as long as it's transferred for no consideration, the form allows such a transfer to be made without a sales tax to pay.
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