Does dealership do inspections (not state inspections), if so what do it usually include and cost?

I am going going of the state and I want to make sure my vehicle is in good condition. Its a 2004 Ford Explorer with about 108,000 miles.

I am wondering if dealerships do inspections. Not the state inspections or the little inspection that they do with oil changes. If so, what do it usually included and do they usually take it for a little drive as well?

Thanks:)

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