Go to truecar or a similar site. You'll see basically what it's going to cost you. Head to a dealer and buy it. Tell them you want their best price inclusive of everything but tax and plates and don't let them pad that number later. If their price is in the ballpark, buy it, if not haggle or go to the next dealer.
My local Honda dealer was/is the stereotype for a bad experience. I left when they began the price talk with a spiel about every car they sell leaving the lot with a $1000 plus protection and security package. Then their initial offer was well over MSrp it was a joke.
Went to the Toyota dealer and their first offer was surprisingly low. They tried the usual stuff during paperwork but it's easy to say no there and we left with a car.
Every dealer different though I'm not indicting all Honda stores or suggesting all Toyota dealers are good but that was my experience.
Also check their websites (some have several with different prices for the same car) for eprices, special prices, no haggles, etc but don't tell them unless you can bargain with it.