Anyone ever print the renewal application for the drivers license prior to going to the DMV?

Last time i went, the lady at the front asked why i was there, i said renewal. Its been two years so i dont remember her exact words but she asked very loudly about my status.

I know many ppl wouldnt care but if you have social anxiety, its the worst!

Is there a way to take that form pre filled out and just say you're here for renewal.

Thanks.