i was told by DMV in both albany and binghamton that if your truck is registered at 8500lbs or more there is no emmisions testing. diesels under 8500lbs will be plugged in and tested but no probe in the tail pipe(my tdi just got its first obd scan this year). but you also pay a decent amount to register it over 8500lbs. you can go anywhere in ny to get it inspected. if you need help or are a little hesitant im sure there are guys on here that know shops that can take care of you. My truck gets a visual and safety check, they dont even go inside the cab.