Just looked up PA myself: $405 for registration, plus inspection ($100?). That seems a bit steep considering within 5 years I'll have equaled the value of the truck in registration payments!
I think, since this is for my farm, I'll register it with farm plates. That will cost me $185 for registration plus inspection, which is a little more tolerable. If I only wanted to go 10 miles from the farm, it would only cost $50/year, no inspection required.
And we haven't even gotten to insurance yet!