I went frame by frame and aligned images by using the sound of the gunshots from two different angles. The video that was taken from a distance makes it appear that the agent was struck by the vehicle, but the one that is closer to the scene doesn't appear to show that he was. Once he walks around to the front of the vehicle, he leans into it drawing his gun when it begins to move forward. This can be seen in the first image below. I circled the gun in yellow and the position of his foot in red. You will notice the wheel of the vehicle is already turned away from the agent as the woman attempts to avoid hitting him. He fires the first shot after his body is clear of the vehicle and the second two after he is no longer in any danger. The bottom images are numbered in the order each shot was fired.
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I know in the heat of the moment the agent may have felt he was in danger. He may have even been slightly grazed as the vehicle went past him after putting himself in a position where that could happen, but one thing that is crystal clear from the videos and witness testimonies is that this woman had no intention of hitting anyone, and she was not a domestic terrorist as the Trump administration claims. The statements that were put out by ICE, Noem, and Trump yesterday on what took place were untrue.