You are able to "sell" the vehicle to the business using the market value when you transfer ownership to your business. In order to claim the vehicle, you'll need to transfer legal ownership to your business entity.
You won't be able to use the instant asset write-off, though. The instant asset write-off for purchases made after 31 December 2020 is $1,000. I imagine the vehicle's value is more than that. This means you'll need to add it to the small business pool if you're continuing to use simpler depreciation. If you're moving to use general depreciation rules, you can use the temporary full expensing measure instead. This gives the same outcome of claiming an instant deduction.
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