Jack,
This is a bit of a grey area and I can only comment on the vehicles I have registered and driven, which are a CVRT and a FV432. These vehicles are built to be road legal and have rubber pads on the tracks, indicators, brake lights etc. Registering them was no trouble as they come with the correct documents from the MoD. If you were to try and register something else, like a Stuart or Sherman it might be more difficult, but many people have done it.
Driving on the road, technically you will need an H licence. I do not have one yet, because I haven't got round to taking the test. The test is fairly simple, drive a few miles, do an emergency stop and reverse around a corner. You can book them through the DVLA, they come to you but will not come to your house. I emailed the DVLA about driving without the H test and got a response which in effect says you are ok if you fit L plates. I am going to take the test in the summer, and obviously I need to practice before taking it!
As long as you are over 21 there are no other restrictions, you can drive when you like. I would not reccomend driving at night in a tracked AFV but I suppose there may be occasions where it is unavoidable. I also drive with a flashing beacon fitted, and a commander who is in communication with me via the intercom. I have driven on the roads with no commander but I try to avoid it. I have heard stories of people taking tracked AFVs on the motorway, and while some of them are certainly fast enough it would not be a good place to have a breakdown!
Hope this helps,
Chris
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