As mentioned, laws vary state-by-state, but typically, if violations such as license or registration lapse (that's "lapse", as in expired - usually relatively recently - not suspended, revoked or non-existant, which are other matters entirely) or missing or faulty required equipment are verifiably corrected prior to the court date, penalties are reduced if not altogether waived.
That's been my experience in several states, across a variety of instances over the years