Great job. You came away unharmed and you didn't have call your lawyer.
Sounds like the opportunity to shoot was a very small window as he took off as soon as he saw your firearm and, of course, you can't shoot a fleeing man. I can't second guess it, but I may have fired upon presentation.
For me, the issue is dealing with the multiple threats in the car. You were lucky they didn't do a drive by on you. Options: Hit the gas and vacate or exit to the other side for cover until they left. Staying in place could have worked out badly for you.