Apparently the driver rolled up the driver's side window on his arm and dragged him.
Video includes references to relevant legal precedent and detailed examination of the footage, including (as indicated) newer footage from the agent's POV.
(And, yes, a sponsor segment from approximately 1:00 to 2:00.)
Anything that happens while you are in the process of committing a crime is mostly on you.
No amount of repeating this will make it true.