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In theory HMRC are going after individuals like that.
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You've got to be a bit careful with loans.
Also worth noting that since at least 2015 the ability of a private individual to avoid tax is mainly down to not getting found out and HMRC's appetite for their/your money. Even if what you're doing is perfectly legal if they don't like it they will take the money and leave it up to you to appeal to reclaim the money.
Couldn’t the company/trust just loan you the money back, in the same way that Mogg just took a “loan” instead of dividends? Tax free, nothing to see here.