I've watched several videos of the shooting in Minneapolis by an ICE agent. The one below is the best I've seen, but it is still hard to make out the complete picture.
One key thing I see is the wheels on the stopped Honda Pilot are angled hard to the left when the ICE agents approach. We of course cannot know what was in the head of the driver. My guess is when she decided to drive away she forgot the wheels were turned hard left and she hit the ICE agent unintentionally.
From the ICE agents prospective. The stopped Honda Pilot jumped and started to come at him. From the video it looks like he was brushed not hit head on. He may have thought his life was in danger, but from the video I've seen he fired AFTER the Honda brushed him and was starting to pull away.
None of the videos gives a great view. From the videos I've seen this seems to give the best view.