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If you are looking to purchase a new vehicle, then most dealerships right now are offering very low subvented rates. Typically, at a dealer, if you are going to obtain financing through the dealers financing arm, you will have 1 original pull at the dealer, and 1 additional pull by the lender itself. If you use a bank, you will likely on have one. Credit unions right now are offering great rates as well - in the 2.5-3.5% range for good credit/new car.
As for approval, your scores are fine, but we would need more details to determine your approval chances. What is your monthly DTI ratio, how long on your job, self employed?