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It's probably not up to the state of Iowa, it's probably more a question of whether or not your title form that you signed has a provision for notarization. If so, do you know a notary that would vouch for your signature after the fact? If not, you get to apply for a lost or new title and go through the process again.
If the title that you signed does not have a provision for notarization, give the buyer a notarized bill of sale and go on down the road.
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