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You do not need a Discover Pass if you are just driving through (and not parking) lands managed by DNR and WDFW.
The base price generates money for operating and maintaining state recreation lands and facilities but does not cover the cost of operating the system used to sell the Discover Pass throughout the state. Transaction and dealer fees cover costs such as improving, operating, and maintaining the online ordering system, credit card transaction fees and staff training.
The extra overnight vehicle fee in state parks is associated only with camping stays. If you are camping, your registration includes a single motor vehicle for tent campers, or in the case of RV camping, the RV and a towed vehicle. If you bring an extra vehicle for an overnight stay, you pay an additional $10 extra overnight vehicle fee. If you bring your RV in and drive a second vehicle in for your stay, then you pay the extra overnight vehicle fee. Regardless of these circumstances, you will not need a Discover Pass.