In 2022, my w2 showed state taxes were paid to Delaware, in 2023 it shows my state taxes being paid to New Jersey. I work remotely in NJ, Do I have to file a DE form?

No, you don't have to file a DE tax return assuming that you live in NJ and work remotely for a DE company since you indicated that your company didn't withhold DE state taxes.  As a remote worker, you pay taxes on your income in the state that you live in.