Filling out the form (if required) is easy for a private party. Of course it's even easier if one can simply provide their SSN to Fedex and retrieve the package. The person may still be held accountable at a later time for the state sales tax.
Take a look at the form, it looks more confusing than it really is.
Here's what a Private Party needs to do to complete the form:

If you look at the form, all they really need is your name address and SSN.

I believe box 1 is left empty.
Box 2B would contain your SSN. Since you gave a SSN, box 2C would be checked on "I have no IRS Number".
2D is left blank.
Box 3 is your name.
Boxes 4 and 5 are left blank.
Box 6 is checked "Individual".
7-10 are self explanatory.
Leave 11 blank.
12-15 are a repeat of the info provided on the previous boxes, just fill the info in.
16 is left blank.
Box 17A and 17B would be checked "NO".
Box 17C is left blank.
Box 18-21 are self explanatory.
Box 22 is left blank.