You’ve got good answers already, but here’s another one, specifically for why it can’t be added to the fuel. The active ingredient, urea, is a solid. When fuel goes into the cylinder it needs to evaporate to burn quickly to push the piston down. If you had a solid component it would crystallize as the fuel evaporates. Very quickly that’s going to build up residue on the inside of the cylinder and the injectors. It would be similar to putting sugar the fuel tank!
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