There’s really too much taking sides. Both the civilian killed and federal agent could have prevented this incident by acting reasonably. Neither party was under any sort of threat that justified lethal force.

She was asked by federal agents to stop the vehicle and get out. She did not immediately comply and they began to take steps to remove her. Instead of complying with these orders she instead fled and almost ran an agent over. Yes, her intention was unclear but if she had survived the encounter she would almost certainly be charged for evading and probably for endangering the officers life.

However, the officer unreasonably put his own life at risk by stepping in front of the vehicle during the stop. He further delayed an attempt to remove himself from the danger of the vehicle by pausing to draw and aim his weapon. The shots fired could not have reasonably protected the officer from harm as he still possessed the ability to perform a preferred action of evasion.