(a) A municipality having a state highway in its territory shall designate to the department the route in the municipality to be used by equipment described by § 623.071 operating over the state highway. The department shall show the designated route on each map routing the equipment.
(b) If a municipality does not designate a route, the department shall determine the route of the equipment and the commodity on each state highway in the municipality.

(c) A municipality may not require a fee, permit, or license for movement of superheavy or oversize equipment on the route of a state highway designated by the municipality or department.