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I’ve done this. They asked me to leave the loan outstanding for two months and I ran the numbers on the interest that would accrue. They agreed to deduct that amount (several hundred dollars) from the purchase price.

Of course, this was pre-supply chain crunch, so now you’d probably be best off not saying you’d prepay and just doing it ASAP

Prepayment penalties are rare outside of subprime/pay-and-go loans. When I worked at Ford Credit the max dealer markup on financing was 2%, and the dealer got their commission on the rate markup up front. Taking a crappy interest rate and prepaying is a sound negotiation tactic because it is the financing company that takes the hit.

Usually not. I've once financed a car just to get an additional rebate (few extra grands to finance through manufacturer) and paid it off next month.

Read the contract, mine didn't have it though (2020).