As far as I know, if you don't offer your vehicle 'for hire or reward' then you don't have to comply with the licensing requirements (other than VED for a private vehicle and a simple MOT). If the vehicle was first registered before January 1st 1973 (soon to be January 1st 1974) then your VED would be zero.
I think that there's an exemption for MOT too (motor vehicles first used before 1st January 1960),
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