I was on landing rollout and misheard a tower "turn off at xxx switch ground" call. We read back the incorrect taxi way and turned off there and switched to the ground frequency. After our incorrect read back, to my knowledge, we were not contacted again until we called ground and ground told us to call tower by phone and then gave us our taxi clearance. after shut down i called the tower and he made it seem as though we had committed a gross violation and that i was going to be flight violated.

I was under the impression that the landing aircraft had the right of way over any traffic behind them, even on roll out. I was also under the impression that a tower cannot stop you from using the whole runway (this was not LAHS operations). Once cleared to land isn't the entire runway "mine" until i taxi off at a point i deem to be safe? Where can rules regarding this be found?

Is missing a directed turn off a runway a flight violation? If so what FAR/AIM or regulation did it violate? I looked at FAR 91.123 and saw: "(b) Except in an emergency, no person may operate an aircraft contrary to an ATC instruction in an area in which air traffic control is exercised." does this apply to me and some how over ride PIC decision making on roll out? Am i under ATC control on landing roll out?

Is the fault with us for mishearing or with the controller for not correcting us? Does this count as a runway incursion? Does the controller maintain responsibility for maintaining separation until we taxi clear? Are we allowed to switch from tower to ground on landing roll if directed, but still on the runway ( we didn't i'm just curious)?

Is it a good idea to call the local FAA office and see if they have opened an investigation?

I posted this question in another forum and didn't get any definite replies