Would my grandfather be considered an immediate family member?

My grandfather has given me his old 1994 Ford Crown Vic for when I get my license on Friday. I signed the title and all. On the title, he put on there "GIFT" underlined and capitalized. The car is already inspected as of last weekend. I just need to get the tags, stickers, registration, etc. So, the question is, would the DMV consider my grandfather as an immediate family member so I won't have to pay the tax on the car?