Private Vehicle Sale (Abu Dhabi)

Can anyone give me advice on selling my car privately? I have a loan but some equity in the car. Can this be handled at the bank with both buyer and seller present to settle the outstanding balance and get a "no objection letter" on the spot, then to the vehicle department for registration and ownership transfer?

How high is the "aggravation factor" doing it this way versus selling it to a used car agency for what would probably be less money?

I am not leaving the UAE, so this is not a distress sale, I can take my time.