My Authority, company plates.

Hello everyone, I was wondering if anybody can help me out. My situation goes like this. I am leasing a truck through a company. They are currently financing the truck, so they don't own it outright, so no title. I wanted to get my own authority, get a dry van and pick my own loads. They company said that would be fine but I would have to get my own mc, usdot and ca and insurance and everything else except that I wouldn't be able to get my own plates due to them still financing the truck, but they said I could use their plates. So what I'm asking is, is it even possible to run the truck under my authority? While still leasing their truck but with their plates? They told me it would be like if I was renting from penske, but can I add the truck under my authority with their plates? I can not get a power of attorney because they don't have the title because they are still financing the truck. So how can I make it work? My Authority, their plates. Is it even possible? Thank you for anyone who might know how.

 

So pretty much as long as the truck is legal, then I should be good to go? Because it'll be my numbers on the side of the truck but with their plates/cab card. Of course it'll be fully insured.