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No you do not, that is a reimbursement for expenses in business and is not declared at all; just pocket it! Remember such an arrangement to the same location can only last three years tax free. The rate is a rough and ready twist of the spoon to stop the treacle running off so to speak and is designed to reimburse for both capital and running expenses of your vehicle.
Remember that over 10000 miles in any one tax year the tax free rate drops to 25p per mile
You do not need to claim the mileage on your tax return at all, just claim it from your main contractor and pocket it!
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