A high-powered pressure cleaner (Gas type, 3000 psi) and Zep Heavy-Duty Floor Stripper:
How To Remove Tar or Asphalt Sealer From Concrete & Brick - YouTube
in 2018 the streets in my neighborhood in WPB where re-sealed. I used the process mentioned in the video to clean my pavers and garage floor of the tar stains that developed.
Do not attempt to clean until the re-sealed roads have had sufficient time to dry, usually a month or two after the initial post seal dirt is swept up.