He was never asked to remain in his vehicle:
Dispatcher - Are you following him?
Zimmerman - Yeah.
Dispatcher - Ok, we don’t need you to do that.
Zimmerman - Ok.
RE: Dispatcher - Ok, we dont need you to do that.
Zimmerman - Ok.
___________________
So, what happened after Zimmerman’s “OK” remark?
The jury nearly convicted him based on the fact that by leaving his vehicle in the first place, he ‘took the law into his own hands’.
“If only he’d stayed in the car” is what the juror stated in the interview.