If you already have the vehicle in your name, you would legally have to transfer title to your company. There could be several benefits.
1 - As an individual, you may not be able to deduct mileage, expenses, etc. depending on how you file your taxes. However, if a company owns a vehicle, ANY and ALL expenses related to the vehicle are deductible including insurance, tires, oil changes, fuel and mileage, etc.
2 - Another benefit is that the vehicle can be counted as an asset to the company. If you were ever PERSONALLY sued for anything, they couldn't take your vehicle. However, if your company is sued, the vehicle would count as an asset to the company and could be used as a base valuation in any suit. It is HIGHLY UNLIKELY that the vehicle would be taken either way, but the issue is in ownership.
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Hope that helps.