You cannot import a car registered in 2003 in 2011...no way around it (unless you know the man who took over from Kosgey).
As for the duty payment derived from CRSP or invoice i would like you to consider the following scenario:
You buy a 2004 Mitsubishi Pajero V73 (3000cc) average CIF price $16000 = kshs 1,280,000
Duty according to CRSP = 564,880
Duty according to CIF invoie:
1)25% import duty on CIF value : 1,280,000 x 25% = 320,000
2)20% Excise duty on CIF+import duty value = (1,280,000 + 320,000) x 20% = 320,000
3)16% VAT on CIF+import duty value+excise duty value = (1,280,000 + 320,000 + 320,000) x 16% = 307,200
Total duty according to CIF invoice will therefore be 307,200+320,000+320,000= 947,200
KRA will therefore take the value of duty that brings them the highest revenue and in this case it is the duty value calculated by the CIF invoice. So be smart about this issue when importing.
Before you can be be old and wise, you must first be young and stupid.