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Unlike other states, New Jersey does not have an exemption for out of state sales. So the Dealership should have collected the sales tax from you. Here is the New Jersey rules on which sales are exempt.
Having said that the difficulty is the dealerships' not yours. If they have already provided you a clean title their recourse is to sue you for the tax due. That is probably unlikely because filing an out of state suit is expensive and time consuming.
Legally you are responsible for the tax and you did agree to make an adjustment if an error was made. So as a legal matter you should make the payment. As a practical matter they may not be abe to force you to make the payment if you have the title and have registered it in Virginia.
If you do make the NJ payment Virginia may give you a credit so that you are not double taxed.Contact the VA DMVfor that question.
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