I suppose this is an ethical question. As such there are no "right" answers.
Each of us has our own "moral pointer" when it comes to things like this.
There are many who are quick to sue for any perceived slight and think nothing of it; others take things in the spirit of the intentions (forgive and forget).
Where you the one who discovered the error or were you informed by the dealer? If it was you, did the dealer admit his mistake immediately and offer remediation to correct his error?
If it was truly a hardship for you to go back to the dealer, rather than just inconvenient, asking for some small consideration might be in order; like maybe a 10% discount card for the parts or service department.
It is totally up to you and your assessment of "fairness."
Lou and Laura with Bella - German Short Hair Pointer
2008 GMC Sierra 2500HD Crewcab SB Allison Duramax
2010 Flagstaff 8526RLWS - Superglide 3300
HAM CALLSIGN - KC3FFW