Trucking: Should I start my own company, econoline van, nj taxation

Question
I have a furniture co in Eastern PA and I make around 50-75 delvieries to NJ/NY/MA we have asmall Econoline van and a 14' utility trailer that we use when we have to).  Last year I got stopped by the NJ taxation people who said since my truck went into NJ - My company is NOW Sales taxable in NJ...  This is killing me because none of my compitition charge Sales Tax for NJ.

The only way around this is ship my product 100% via Common Carrier/UPS (75% is UPS right now- But large orders need a truck since we offer white glove service such as assembly.

Many of these deliveies are only 1hr from my factory and we try and group 3-6 deliveries in the same area on the same day.. I tried finding a company to do our white glove delivery - But the cost is too much - $250 per shipment and up. The $250 itself is not bad, but when I have 5 deliveries in the same area I end up spending $1200 for a 5-6hr job -

I'd like to use my own trucks for these kind of deliveries - Whats involed in setting up a legal shipping company with my little Econoline truck and 14' utility trailer so I can ship to NJ/MD/NY/CT/MA

Thanks

Answer
Mike, you may need to consult a good attorney on this one.
I took a quick look at the NJ sales tax regulations and I am not sure starting a trucking company will help you.  You could sell FOB Pennsylvania, but then you would probably have to collect PA sales tax.  In my opinion it will be less hassle and less expense to comply with the sales tax laws of PA and NJ than to start a trucking company with one truck and incur more costs and federal regulation than it would be worth.  See http://www.fmcsa.dot.gov/ if you really want to go that route.  Sorry I couldn't be more optimistic.  Jim.