I am moving to Ireland under freedom of movement of labour rules for work. I am a British citizen. I will be bringing my UK registered car. It is taxed and insured in the UK at the moment. It's about 10 years old and it's been in my family the whole time, although I only had registered ownership transferred back to myself this month. To be clear there was no financial transaction, just a change of registered keeper and I was previously insured to drive it.
UK cars can simply drive in to Ireland, either over the land border or via the ferry from Wales. But since I will be living in Ireland permanently, I presumably need to re-register the car in Ireland eventually.
The government web site is a bit confusing on this issue. How long can I go on UK plates and insurance? Presumably I eventually need to re-register the car as Irish and get new number plates for it, as well as new insurance, so how do I go about doing that and what issues might I encounter?
To be clear as to the question, I am looking for an explanation of the rules and the procedure I need to follow. An indication of costs would be helpful too.