You need to transfer the title to a PA title, and you can't do that without the import paperwork, so you need to formally import it. That CBP website is basically chapter and verse on how to do it, you declare it, they conditionally allow it in until you get the EPA check done (they will tell you where to go to get it done), then you go to the local CBP office with the paperwork to get it fully cleared, then you go to the DMV with the clearance paperwork and the Ontario title to get it transferred. There may be other paperwork they want (proof of insurance, etc.) varies depending on what State law says. Once you've got the title then you can register it.
It's been a long time since I've done it which is why I posted the link to the CBP website, I remember the EPA check and having to get the clearance but I might have forgotten something.







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