Of course it's fraud, and you should let the dealer know that you will be made whole. He is the professional and he took advantage of you. You probably have additional monies tied up in registration, personal property, insurance, etc. not counting the time that will be involved fixing his problem. You have filed false paperwork with the county and state because of this dealer.
First, you need to decide what you want: keep it with some booty or give it back. Then, talk calmly with the sales manager -- you can bet he will want to fix this. If not, a letter to the owner from an attorney shouldn't cost more than a couple of hundred bucks and the copies to the State Attorney General, BBB, etc. are free. If they aren't willing to bargain along with fixing all your problems the letter will change their mind.
If they are reputable they will probably be embarrassed and very concerned. And, will quickly handle a reasonable fix. Make sure you know what it will take to make you whole before your first meeting.