Sledge Hammer was great. It was satire, though.
How often tv cops arrest non violent criminals with drawn guns is something I haven't paid much attention .... it seems to me in tv drama, most criminals are violent and wound up being pounced on, cuffed, or shot. All of which happens, but not nearly so often to average real cops as on tv.
Most tv cop shows don't show traffic summons being issued. Well, ADAM 12, maybe, but HAWAII FIVE O?