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Will you be physically transporting the rifles from FL to VA to give them to them personally?
Ok, there is no law in VA that would prevent you from simply gifting the firearms to your family members personally. The guns would not have to be "re-registered" under VA law as long as they are lawfully owned. Private gun sales or gifting is entirely legal in VA, regardless of what state the gun was originally purchased in.
You can do so through a local FFL dealer if you like, but it is not required or necessary in any way..
Just make sure when you are transporting from FL to VA, that the firearms are unloaded and secured, like in your trunk.
You are very welcome. Happy to help any time.
And as a gun owner myself, I can't think of a nicer gift...
Have a great evening!