All five were taken to University Medical Center after the chase ended in a chain-reaction collision at Hawthorne and Chadwick avenues shortly after 2:30 a.m., they said.
The Essex County Prosecutor's Office, which was investigating the crash, said none of the injuries appeared life-threatening.
It hadn't yet confirmed an earlier report that the carjacker bailed from the vehicle after it collided with a police car -- then somehow became trapped under it and had to be extricated.
A white van was involved, video footage from the scene shows.
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