If you look carefully at the video of him going through the barricade that's made up of saw horses laying on their side and then the cop shoots at him... he already has massive front end damage to his vehicle. That was him exiting the parade route after he'd done all the damage. The cop clearly heard on his radio what the "red SUV" had done thus he drew his weapon and fired on it.

There are two views of that same moment. One you can hardly see anything but the cop firing as it flees. The other is longer and you see the SUV coming almost hitting some children. You can CLEARLY see the driver side headlight is toast and the hood is bent to hell and back.

https://twitter.com/DefNotDarth/status/1462587033256435715?s=20

See here... no damage at all. He clearly misses that small child. He could have hit that child with ease. So at first he had NO damage to his vehicle and he was just driving like a mad man, but he had room to go around and so he did.

When he gets to that band and it was a wall of people he then starts just driving over everyone he can. But later you get this.

https://twitter.com/tmj4/status/1462821508427005954?s=20

Hear the shots right before the video ends...

I couldn't find the original video I saw but someone else found it and included it in the end of this great compilation. See at the end 2:08 on left side of screen. Pause it and you can see the front end damage. No headlight on driver side. Cop heard all that radio traffic and fired on him as he fled.