The Spider-Man Rule applies. These police officers fucked up several ways. Excessive use of force, threats of street execution and the coercion to conceal their crimes in exchange for being let go.
$20 says the officers are disciplined and Nazario wins his lawsuit through a settlement.
I just saw the Video. It looks like the Cops asked the Driver to get out of the Vehicle. Not real difficult to do that.
I got pulled over once and was asked to exit the Vehicle. I did that. The Cop looked at me ... then said "You're not the guy". And drove off.