Functional dependencies with the same key?
I think you're misjudging what an insertion anomaly is. It does make sense for the FD to be 

carID -&gt; manufactory, model, outletNo**


since this is just a way to say that the same carID always has the same manufactory, model and outletNo.

Now, if you leave aside for a moment custId and custName, and you decompose the relation this way:

R1(carID, manufactory, model, outletNo), R2(outletNo, location)


you see that this is a fine decomposition that meets 3NF and is free from insertion anomalies: infact you just cannot have, for example, the same carID in two distinct outlets, or the same outletNo with different location. 

You're right that adding a car with no outletNo would be no good since outletNo is a foreign key to R2, infact most DBs won't allow you to do such a thing. But this is a different story. Not providing values for mandatory fields is just wrong, and that of course doesn't mean the design of the database is not correct.