Why do we pay taxes on used cars?

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Why do we pay tax on used vehicles?  The taxes were paid at the time of purchase for a new vehicle.  My question is why are they paid again and again, every time that vehicle is sold as a second hand car.  When a used car is purchased, it is usually by someone that doesn't have the funds for a new car.  Why then, should the government benefit from a citizens poor financial situation?   Yardsale items are not taxed as well as anything else that is used that is sold.  Used car transactions are usually a private sale so I am confused as to why the government should benefit from this.  This needs to be changed so a two income family can afford to travel to work.