Yes, you can take the credit on both cars. And yes, filing jointly is almost always better than filing separately. You can only claim the credit once for each qualifying vehicle. The tax credit must be claimed in the year when you purchased and began to use your new fully electric or plug-in hybrid model car or fully electric two-wheeled vehicle.
However, if you purchase a separate qualified fully electric or plug-in hybrid vehicle in another year, or two separate qualified cars in the same year, then you can still claim the tax credit for the other vehicle. It is not a once-in-a-lifetime tax credit in that sense.
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