I did it once. A 1998 Ford Contour. Dealership was pretty nice about it I only put 200 miles on the car. I think I did pay about a $250 fee not a big deal really.
I had three of those through the years when they were manufactured. One with the 4 cylinder and two with the Duratec 2.5 V6. The ones with the V6s were great cars-I used them for business (outside sales).