Reaching back in my past life here...

olice:
There is no grace period for an inspection technically, and +1 on Liam's advice about the dealers. While there is no difference in the inspection manuals from one place to another a dealer will likely have people doing the inspection who 1) know more "nit-picking" type things to look for, and 2) a major chunk of their profit comes from service. Therefore, if an inspector can find something wrong he/she may have more incentive to do so. The moral aspect of that we can all come to our own conclusions about.
As for title and registration, the best bet for up-to-date answers is
www.dmvnow.com. That's VA DMV, and at least the website is fairly user-friendly. Get a PIN for online transactions as soon as you can, that will save you at least some time by letting you do certain things without ever setting foot in a DMV, which should be your goal. Without knowing the particulars of your situation I couldn't say what documents you may need etc.
As for insurance, the DMV website will also tell you about mandatory minimums, but any VA agent has to sell you at least that anyway, so it shouldn't be an issue. You do have to have insurance to register the bike, but I've never had to show proof, just sign a line on the registration application form. Probably better safe than sorry though, the penalties are pretty nasty if something happened...
In short, find insurance, get an inspection (if you have Out of State tags that doesn't matter, the inspection and registration have nothing to do with one another) and double-check what DMV will need online before you stand in line for hours. Or you could do what I do, find a really small town with a DMV branch and make a ride of it. I use Tappahannock DMV, and not only is the wait usually next to nothing, they're actually friendly!