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If the customs stop you and search your car (they never have with us) then if you can't convince them it's yours, older than 6 months old, etc then you'll pay there and then or be told to present yourself at the customs office to pay the VAT & duty, which won't be much
But you are extremely unlikely to be stopped.
bq
Thanks. I was assuming there would be some sort of ability to pre-declare online to save time at Eurotunnel. Silly me.