Vehicle swapping in Queensland- effect on stamp duty

Looks like they want there pound of flesh.
All other vehicles

Type of vehicle Amount of duty for each $100, or part of $100, of the vehicle's dutiable value
Hybrid vehicle (any number of cylinders)
Electric vehicle
$2.00
Vehicle with 1 to 4 cylinders
Vehicle with 2 rotors
Steam vehicle
$3.00

Vehicle with 5 or 6 cylinders
Vehicle with 3 rotors
$3.50

Vehicle with 7 or more cylinders
$4.00

For a vehicle not previously registered, the dutiable value is the total of the vehicle's list price and list prices of all items of optional equipment not included in the list price.

For a vehicle previously registered, or a vehicle with no list price, the dutiable value is the greater of either the market value or the total consideration payable for the vehicle.

http://www.osr.qld.gov.au/duties/about-duties/rates-of-duty.shtml?showtab=4

A swap is a sale even if no money changes hands.
Actually it is 2 sales!

Carl HI,
A lot depends on the terms of the "swap" I wanted to give my daughter my wifes car. Transferring from my wifes estate to my daughter attracted stamp duty. Transferring from the est to me then to my daughter didnt??? there was only one RWC etc required A bit messy but why give the Government more than you have to. If you approach Qld Transport they are useually helpful (provided you speak to a human one.)
Mike.

Thanks everyone that was great.