In summary, everyone has a Right to travel.
Only people who use a vehicle for transportation of humans or cargo in exchange for money need a licence.
If you are traveling for your own private reasons, then you are using an automobile.
Registration was originally used to prevent theft and allow cops to question people who are registered to make sure they are operating their own vehicle.
Many are realizing this and no longer participating with the DMV "requirements". For example, one man in Texas got pulled over 9 times and they let him go 8 times. The one time he went to jail, he sued for $4,000,000 for false arrest.
Here is a video explaining the laws behind it.
What esquire?