China to UK import tax confusion

I recently did an Alibaba order, where I asked for the invoice value to be declared at $40 (actual value was more) in order to face less import tax.

I shipped via UPS, items arrived fine but I haven’t received any notifications or letters from UPS regarding import tax for this parcel. Does that mean I avoided it? I don’t have an EORI number so I’m not sure how to check if I owe UPS any money.

Also the order wasnt DDP as far as im aware, they didn’t pay the tax on their side

From what I’ve read, all imports except gifts will be charged import tax, so I’m quite confused

If anyone has any more information/experience on import tax to the uk, I would really appreciate it!!