I've been sweatin' the same issue.
I just
built my own two-car hauler and pull it with an F250 pick-up.
I wanted to pimp the trailer with some cool shop logos and "not for hire" stickers but someone told me that would make me a commercial hauler. Even though I'm haulin' my own cars with my own truck to my own shop. It's crazy.
I spent half a day on the phone calling my local state police, state police HQ at the capital, DOT, NHTSA, FMCSA, CIA, UPS, USDA and anyone else I could think of.
No one could give me a straight answer.
I keep all the numbers and names of people I talked in the glove box. I pity the cop who pulls me over. I'm going to show him the list and ask him how he knows the regs but all these other folks don't.