Here in Texas we do have annual safety inspections (2 years for new vehicles). There is no emissions testing except in a few counties around the big cities like Dallas and Houston. However most inspection stations will do a visual check to see that the obvious emission systems are not disconnected or bypassed.
I pay $74 per year to register my Sport Trac which is based on vehicle weight, and that also includes a county road and bridge tax (not required in all counties)
While $74 may seem high for vehicle registration to you, we Texans to not pay a state income tax like you do in Ohio or most other states. (there is only about 3-4 states that do no levy a state income tax) I think that makes the $21 more I pay cheaper overall. I like the concept that if you don't use the service, you don't have to pay the taxes or fees.