Japanese, asking a question?

I was wondering how do you ask questions in Japanese in the informal form.

So in the formal form "where is the car?" is kuruma wa doko desu ka?

So I wondering how do you ask this question in the informal form, is it "kuruma wa doko da no?"

If not how do you ask questions in the informal form, or does everyone use the formal form of desu when asking a question to anyone (of any age, status, etc.)

Thank you!