The shortened version of you post is "I hit the car in front of me." Regardless of your explanation that supports a ticket of careless driving. ...

Convince a judge that probable cause was lacking and get the charge dismissed. After you do that you can look at remedies. If this is the person...

An eyewitness that saw you take a wallet is enough for arrest and conviction.

I understand New Jersey has made some changes to its expungement laws. I was wondering what they were?

An attorney would need to go over your entire record. But it is possible that you are eligibile.

Is a citizens eye witness observation alone enough to make a complaint? Criminal defense.

Eye witness testimony is competent evidence and is enough to convict.

It could fall under a number of indictable offenses including enticing/luring, lewdness, and endangering the welfare of a child.

The Judge is correct. There are usually several court dates before a trial is contemplated.

Do this case qualify for a u visa?

He needs to speak to an immigration lawyer.

What should I say in my court date tomorrow?

You should say “not guilty” then speak to prosecutor and he or she will offer you a plea.

Why is this on my permanent record?

If the charges were dismissed then you are entitled to an immediate expungement.