The DMV has its own inspection locations. They are free. They used to take forever, but these days, you only have to get inspected once every two years (even less for newer cars) and pretty much all they check is emissions, so the lines usually aren't too bad, at least in my part of South Jersey.
You could also go to a mechanic to get one -- and lots of people did back in the '90s and before when the lines at the DMV sites were so long -- but that costs money.
On Wednesday, I think the McDonald's drive through took longer than the DMV.