You must have a valid tax disc displayed in order to drive on public roads, otherwise you will need to have it delivered by trailer. The car must be completely raised from the road, and not simply towed behind the other vehicle. The auction may allow you to collect the vehicle at a later date or time, giving you a chance to sort it out. Check their terms and conditions, or ask them.
As for insurance, you can get short term "drive away" insurance from various companies, and the cover can start immediately if required. Norwich Union do it with their HPI check scheme, or you can get it as a stand-alone product.
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