There was absolutely no reason for the attempt to pull her out of her car, and even less for escalation to use deadly force and, IIUC, DOJ guidelines and DHS policies[1] back that up.
This was an execution, not a law enforcement officer "defending" himself. That the decision was made in the heat of the moment doesn't make it any less an execution.
What's more, shooting peaceful protestors (cf. First Amendment[0]) is illegal on its face:
"Congress shall make no law...prohibiting...the right of the people peaceably to assemble, and to petition the government for a redress of grievances.*"
[0] https://www.law.cornell.edu/constitution/first_amendment
[1] https://apnews.com/article/ice-minneapolis-police-rules-shoo...