I have been handling these cases for 25 years. Maybe a dozen of them. Have one right now.
Cops (in this case ICE, I guess) do not have to, in the words of the courts, measure angles and trajectories. A car can change direction with no warning and he does not have to guess as a to its ultimate path. The she lurches towards him is enough, and he does not, again in the words of the courts, have to just "hope for the best."
You say her tires are turned "well before" shots are fired. Maybe 2 seconds before, but then the car moves forward, initially toward the officer. The use of deadly force based just on that is easily justified. (I do not know the rest of it and don't know if there is audio, which could change things I suppose, but based on video this was easily justified.)