The clear footage we have is of the car hitting the agent. The car starts moving, when previously stopped, in violation of a lawful command, and travels directly into an agent. He can't see the tires from his viewpoint, so that doesn't influence his actions. He was hit by a car and returned fire.

You want him to be found guilty of a policy violation? Do you think there's real consequences for that?

He's not guilty of a crime. Look at some legal analysis or something, it's not hard to find.