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Go to FMCSA.DOT.GOV for rules on this. In my case I only need to comply with the federal laws if I cross state lines. So no DOT number, medical, and log books if operating within my state. Different states have different rules about this, the web site has a guide.
I was told the army used to haul M60 tanks around Ft Hood on the 172, and those ain't light. I've seen a few bowed 172's come out of Hood and I suspect that is how that came to be. Not bad for trailer with 6 hole Budd wheels . . .