It also appears the guy in the truck never called 911, but I am not certain of that. I am not sure I agree that the guy in the truck committed crimes since he was being pursued by someone he likely knew was a fake cop who had already pulled a gun on him. The local prosecutors may not see it that way.
It's hard to say just from looking at the video, but the guy being chased didn't seem to be in fear for his life. When he brake-checks him, and the first time he rammed the bad guy's car, there doesn't seem to be traffic blocking him in. At that intersection, it seemed like he could have just turned right, instead of hitting the car again.
Of course, I'm just going by the video. Other facts are available to the authorities, I presume.