I actually agree here. She was not deliberately trying to run him over. She wanted to get the hell out of Dodge so to speak. She likely didn't even really see him, just stomped on the gas and went to run away as fast as she could. The problem was, she did it after the ICE agents engaged and had detained--by their giving commands--to her.
It is during what was turning into a potential felony traffic stop where the suspect becomes violent. In this case, the officer that fired likely thought he was going to get hit by the vehicle and defended himself.
It was all a tragic scenario that Renee Goode brought on herself by wanting to be edgy and egg on the ICE agents. Her 'partner' probably reinforced that along with Leftist stuff on social media and the internet. This was Goode's trainwreck start to finish. Going there and blocking the ICE agents in a 'Contempt of cop' scenario is not a brilliant idea, regardless of what you, or I, think of ICE as an agency.