He did drive away from the initial stop. One could guess he realized it was not a routine stop and they were ambushed. The natural reaction in that case would be to drive away. Flee for your life. The fact that he veered away from the officer and did not run him over, shows he was not willing to threaten their lifes. The lesson learned for the future here is do not veer.
Yes, the LEO that jumps in front of the vehicle to force it into deep snow could have been hurt but LaVoy did his best to avoid him. Were shots already being fired at this point? Need the audio to understand fully. With his arms up and goading officers to “Just shoot me than!” he was likely reacting pain from being shot or muscle reaction to a tazer from the LEO at his left side as he faced the truck. He is not reaching for a weapon. This was an orchestrated execution and murder at worst and a bad shoot at best. Either way it was planned and staged. You could sense the guilt and emotion from the Harney County Sheriff Dave Ward during press interview the following morning. He was red faced and stammering to get the words out to justify in his own mind why he let the FBI allow a violent end to this.