Pennsylvania here with annual state inspection. You can get away with some stuff unless it is a dealership shop. Typically brake and tire wear must be within spec, exhaust must be intact with no leaks or rusted out, suspension and steering components they check for wear, and all lights and indicators must work. States are divided up smaller yet by counties, in which some have emissions testing and some don't. I don't need emissions testing done, but 60 miles south of me does.
An independent mechanic with a state inspection license may tell you when something is close to failing and still pass it expecting you to get it fixed. A dealership shop or large shop will not pass it.
My rotors were pretty chewed up. I get free inspections by the dealer. It did not pass. They would have passed at an independent shop because they were just scored badly, not thin and out of spec. I also picked up a slow leak in a brand new tire which by the time I arrived at the shop, the low air pressure indicator (as if that's accurate) was lit. They did check and found a screw in the tire. No problem, the tire shop fixed it for nothing.
There are also plenty of rip-off shops. When I was a kid, my father was not a car guy. His cars failed inspection every year for exhaust. What do non-car people do when they are in the shop and fail inspection? They tell the same shop to fix it (I say, OK, I'll be back, then go home and fix it...)
Makes me curious though, what they would do if a real 4x4 had those stupid air pressure sensors in the wheels and the owner chose to put larger tires on for off-roading and didn't run the same air pressure. The indicator on the dash would be lit, yet a lower air pressure could be perfectly fine. I use to run 23 and 25 psi in my 31x10.50 BFG tires on my old Toyota because any more than that and it was way too much pressure and wore the center down. Recommended per the vehicle was 32 psi based on stock tires, not the 3 inch bigger tire I had. That probably would light the indicator if there were sensors in the wheels like my current vehicle.