To which you reply,
Since you have neither a warrant nor probable cause nor exigent circumstance, I do NOT agree to your request to travel with you.
Further, I will remind you that deprivation of rights under the color of law is a violation of US code Title 18 section 242
At which point you’ll be wrestled to the ground while “resisting arrest” and cuffed; or tased, or shot.
If there are two cops, one can yell ‘don’t move’ and the other can yell ‘raise your hands’ then whichever you disobey gets a free shot.
Smart folks save their lawyering for the courtroom, not the roadside.