I don't see where they charged for it but he said VA inspection is required for him to put temp. tags on.
They don't have to get the car inspected to get temp tags....that's what the tags are for, to drive to the inspection station and/or fix any issues with the car....get your money back for the inspection(it's probably from the dealership anyway).
If the dealer did not make arrangements for the car to get a MD inspection, there is a waiver that you have to obtain from the MVA so that you can drive the car to the inspection station....if the car does not pass inspection, you can take it back to the dealer and have them fix any and all issues(I think this is covered under the lemon law in Va)
Is there a reason that you didn't have them MD inspect it?....When I bought my truck, that was one of the stipulations of me buying it was that they get it MD inspected and take care of the title, tags, and registration