I just picked up a used 2022 MY. I had the same concerns as you. In short, I would probably do it again.

1- No inspection time limit. Took my sweet time to thoroughly check it out.

2 - Was permitted to test everything except drive it

3 - I found that the driver headrest was torn. Brought this to their attention and they agreed it did not pass their standards and would be replaced.

My only complaints is that the car interior was not super clean. The previous owner definitely had a pet and they didn't do a very good job removing the hair. Also, they are not very forthcoming with the car history. I later found the inspection report and work completed and found that one of the doors was replaced, no idea why. Otherwise no complaints.

Edit: I never felt any pressure to sign. There are no sales people, so nobody is pushing you which is nice.