Hi @dennis,
Add custom field on customer master and sales invoice
Write custom script for sales invoice to fetch the tax id from customer form to sales invoice
use below code
frm.add_fetch("customer", "tax_id", "tax_id");
For more details please check below links
https://frappe.github.io/erpnext/user/manual/en/customize-erpnext/custom-field
http://frappe.github.io/erpnext/user/manual/en/customize-erpnext/custom-scripts/