Here is the paragraph from the HMRC advice note that I am relying upon:
Form C104A - if you are importing your private motor vehicle and
setting up your normal home in the EC (in the unusual event of
importing a private aircraft, you can also use this form, suitably
modified)
And the form
As I said, I don't consider it an issue with the UK HMRC, the problem is not having any paperwork other than the C104 form that I filled out, nothing official originating from HMRC acknowledging the exemption.
I guess I will just have to give it a bash and see how i get on