...keep on driving or to have driven away after sitting in his car for a few minutes. The officer doesn't suggest in his interactions with the man filming that he's at the address for a reason (he says he "randomly" stopped at the house), so there's no apparent reason for the officer to have exited his vehicle and to have accosted the man with the camera.

I'm one who always gives the benefit of the doubt to the police because I know what they deal with on a daily/nightly basis and how any interaction can turn potentially deadly, but I don't see/hear anything in this video that suggests the office should have stopped his vehicle, exited the vehicle, and drawn his gun on a civilian who was apparently standing in his own driveway.