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Hello! I am a licensed attorney, admitted to practice in state and federal court. I have a nearly 100% satisfaction rating so all that means is that you can count on me to help today. Unfortunately, a vehicle is not going to be legal to drive back. Every state in the Union requires that a vehicle have proper tags, a license plate, a dealer plate, temporary plates, or and proper insurance as well. You could always risk it to try to drive it back, but you may want to get the insurance in the license taken care of in advance.
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I'm sorry, but based on what I can see a temporary permit for this matter is not available. This is particularly true in California where I am licensed to practice law. Basically, you're going to have to go to the regular registration procedures before you drive the car back leave early. As I mentioned, you could always risk it, but given the distance between Colorado and California it may not be worth the risk to have your car be potentially impounded for being unregistered.