Importing a previous export back to the UK

[LunarOne]

I've seen a modern classic car (1996 vintage) that is currently offered for sale by a private seller in a distant land. I assume it has been legally exported and registered in foreign land, although it apparently still wears its UK plates If I were to buy it and bring it back to the UK, is there any way around paying import duty and VAT on it? After all, UK VAT was already paid on the car when it was sold to its original UK buyer. Car is a German marque if that makes a difference. I've seen the information at https://www.gov.uk/importing-vehicles-into-the-uk but I'm not sure whether it originally being a UK-registered car makes a difference. Many thanks!