You would need to create an Accountable Plan for use within your company. Implementing an Accountable Plan is easy and allows employees to turn in expense reports for business related expenses they paid for personally or use of personal property for business use (mileage) so the business can reimburse.
Mileage reimbursement would be an expense for the company and reported on the business return under vehicle expense.
For the employee, the reimbursement should not be processed through payroll because it is not considered income, but a reimbursement.
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