Well, the guys from Japan probably have more lax customs than the US, so will allow lots to go through as 'toy car parts'. Also, I would of thought that paying your own Customs fee would also involve in you going to collect the item in person, as there would be no agreed package handler this side, but you will find that the USPS have a tie-up deal with ParcelForce, and all the other 'national mail services' in each country.
In the end, you got caught with an official package and paid the correct amount of tax, rather than getting lucky and it slipping through, just when you ship from abroad, always anticipate a customs charge.
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