Not according to this interview with Victoria Sharp.
According to her, Ryan Payne said he had been fired at, but then got out of the truck and surrendered. He wasn't gunned down when he did so I'm not sure what the others in the truck were afraid of.
LeVoy and the others in the truck then sat around discussing whether they should flee or not - which I doubt they would have done if they thought they were under fire.
Eventually, LeVoy decided to bolt and here we are.
Finally, neither Ammon nor anyone else detained in the initial stop has claimed that anyone was firing at the other truck. Why?
That is an interview of her reviewing FBI video.
I went by her statements prior to release of FBI video.
https://www.youtube.com/watch?v=Y92PvMFL0Eg
The CNN interview confirms that Payne had his hands and head out the window was shot at.
The CNN interview adds a small amount of information regarding conversation in the truck prior to leaving. On the video of the stop Finicum leaves immediately after clearly visible flashes. Those flashes support Sharp’s prior statements. The CNN interview jumps from “Hey guys I’m going to drive” to “minutes later the truck encountered another roadblock”.