Can you take the driver's test in a Ford F350 van? (12 passenger )?

I have a large family and that is the only vehicle we have. I waited a year to get my license and now I want it badly. Can you take the test in any type of car/van? Also the only way I can complete a 3 point turn in a vehicle like that is if I dry steer. Will I automatically fail if I dry steer? Thanks

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