I just completed mine this week. For the safety inspection, I went to the DPS Waiver/Challenge location in Plano. Call ahead for an appointment. Took 30 minutes and was handed an inspection report (replaces the need for VTR-852), window sticker (payment by money order or cashiers check only) and TX DPS emissions waiver #. Here is a link to a waiver office in your city.
TxDPS - VI Waiver Station Locator
Follow all the other requirements listed in previous posts and it should go smoothly. I was in and out of the Frisco Tax office in 15 minutes.