I went to DMV in virginia, my license renewal was due. we had just renewed passports so had documents handy, and used the new passport of course, plus an electric bill. I don't think appointments are offered. I just went in on a weekday to usual DMV with the documents. it was a busy day, waited about an hour, but I had brought a book expecting that. process took about 10 minutes, and I got new REAL ID license mailed to me in a week.
At our DMV, you go in and register at info desk, get assigned a letter and number, and people get called to different workers depending on your reason for the visit. its efficient.
Re passports, our local public library has registered to be a place to take passport applications, they have several staff who went to trainings on this. We had old passports but had let them expire. So we made appointments back in the very early spring, brought all our documents, and that took about 20 or 30 min for each of us. Got the new passports in the mail about 2 weeks later. Librarian told us the library was still in its probationary stage of doing the passport applications, so everything they sent in was double checked as soon as it was received, and things were sent out sooner to applicants.