Are you sure? I imported a car into the UK (yes, I realise it is a different country with different rules, but I would be surprised if you could import a car without paying duty on it) and the rule there was that you had to produce an invoice for the car. If you couldn't, or if the invoice was improbably low (eg, a $1 car), you were required to pay duty based on the fair market value of the car.

Simply because it is a gift does not exempt it from being taxable. If someone gave you a new camera, in theory you should declare it and pay the tax on it when you import it into Switzerland -- regardless of the fact that it "cost" you nothing. I can't understand why a car would be any different...

If, on the other hand, it was an older car that genuinely had little or no fair market value, there's no reason you shouldn't be able to import it and pay virtually no tax on it.