VAT on van sale now it’s converted

Current 'reducing balance' method of calculating 'plant and machinery is 18% according to HMRC.
 
Doesn't the sale have to be at arms length or is that only for vehicles on HP or PCP?
 
Its a long time since i worked in tax but selling to a connected party is normally at arms length - it follows that should be the price for VAT. Depreciation (however determined) just impacts the profit or loss on sale.
 
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