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A Jersey City man who served seven years for manslaughter has been charged with robbing a man at gunpoint at a North Bergen self-storage facility, authorities said. Miguel A. Castro, 42, was ordered detained throughout his prosecution at a virtual hearing Thursday in front of Hudson County Superior Court Judge Paul DePascale. He is charged with multiple offenses, including aggravated assault, weapons’ possession, robbery, criminal mischief, resisting arrest and eluding, according to criminal complaints. He was arrested on May 29, a short time after authorities say he robbed two men at gunpoint…