Does car have to be "registered in my name" in the us to import it to canada?

[Happycare]

I have a car but the title is in my relatives name. I signed the title on the back in the buyers slot and they signed off in the sellers slot. I don't want to plate the car in the us pay for registration and inspection and wait on a new title just to turn around and have to do it all again in Ontario if i don't have to. can i just cross and import it saying its a gift since i have everything i need to register it here like insurance and a signed title? Its over 15 years old so its RIV exempt i think. Also due to personal circumstances can someone else drive it into Canada for me and handle the import and if I put it on my goods to follow list is it tax free or that does not apply to cars?