Appreciate the info sir. Well it’s got the full tool box reading style body. Here’s a picture.In PA you do. The laws are a little confusing, but it seems that anything with a gvwr over 10,000 lbs requires dot numbers. Farm trucks are exempt though, so that tells me that "personal vehicles" "could" be exempt. I know for a fact that the PA dot has been pulling over pickups with heavy trailers like crazy lately. Also I know a guy that bought a bucket truck and dot stopped him for his numbers when he was driving it home for the first time.
I will say to the OP that you may want to put the truck on a scale before registering it because you do not need to register it at 19k. You're not going to be anywhere near that with a bucket lift. If it had a dump box on it, it would be a different story, but you might save yourself a couple hundred per year on registration by registering it only at what you need. Just don't forget about passenger weight and tools.