Unless there is something we are not being told about this shooting it was without a doubt a bad shoot and lethal force was not justified. The suspect was uncooperative and was being detained so at that point the job of the three officers was to affect an arrest using whatever non lethal tools and techniques were available to them but lethal force was not an option.
I can justify the use of lethal force if the three LEO unsuccessfully attempted to affect the arrest perp broke loose and reached into the car. But from what I saw in the video, LEO never attempted to use non-lethal force, such as the use of a taser or pepper spray or even tackling him to the ground. LEO never should have let the perp even approach the car door.
I just read his three sons were all in that car are ages 3,5 and 8. Cop could have very easily hit one of those kids but imagine the trauma those kids will grow up with.
From what I'm reading the guy is still alive so we can only pray he lives. I just can't imagine those kids seeing their daddy shot like that.