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"Have them sign the registration "
Perhaps more important, make sure they sign over the TITLE. I think all states now issue the title separately from the registration, and it is the TITLE that the new honme state will require before they issue a new registration and title for the boat.
Florida could care less about the sales tax, as long as the boat is going out of state WITHIN 90 DAYS. As long as that happens, the only tax concern is paying use tax, if applicable, in the new home state. Otherwise, Florida wants the tax regardless of where the boat goes, and the new home state may allow a tax credit for that payment--or not.
I'd say it is most important to physically be there to prep the boat and pack the boat and see the movers actually pick it up and load it. Too many damages can happen at this point, you want to be there to have them sign off on picking it up in actual condition, and be there again to sign on on the receipt of the boat. Anything that can chafe, tear off in highway winds (hatches), move around, probably will do so, unless it is 100% secured.