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I would (if possible) take a sample of the stained wood to a pro paint store, they have colored putty, get the color that matches your wood(you may have to get two colors and mix a little of one to the other for a perfect match) putty the places that need it. sand the entire door jamb or door lightly with a 220 grit paper, don't go into the stain when sanding.Wipe off dust. If some of the scuff marks has rubbed off the stain as well, you may need to buy a quart of the closest match to your stain(or have them match it) use a small sponge brush and a rag, useing very little stain in the brush lightly dab the scuffed places and wipe excess with a rag, this is tedious so be patient, don't glob it on, if it is too dark wipe it off a little with the rag. they also have colored markers for stain touch up at the pro paint store too. Allow the stain to dry. If you use brushable lacquer, use as few strokes as possible over your touched up stain or it will wipe it off. If the scuff marks did not reach bare wood, don't put stain on them, if you can't tell, wipe the scuff with a wet rag, you can ussually tell then, be sure to let it completely dry before proceding.
Sometimes this works and sometimes it doesn't, it is worth a try and your easiest way out if it works. Test on one jamb before doing the rest and see if it is satisfactory.