Ok Friends, thank you for your reply's and thank you for the welcoming, is kind of frustrating no to find the right way to do this. I found a guy in forth worth who says he service UTV's and so far he has seen more than 6 street legal with inspection plates and everything and his shop.
https://abffabrication.com/street-legal-utv-in-texas/
But when I try to do what he advice to do in his website well the tax collector office refuse to change the tile because de MCO (Manufacture certificate Origin) of the Pioneer it says MV for "Recreational off-road Vehicle" and that is the big time wall that stop the whole process. I have the vehicle inspected, I have it totally street legal with light mirrors etc.., Insurance but the Tax collector office don't let me do it. OK guys I will keep looking but if I find the loop of this I'll let you guys know. Mil Thanks!!!