The clip shows the moments before gunfire rang out on a Minneapolis street.
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The 47-second footage, obtained by Minnesota-based outlet Alpha News, shows Renee Nicole Good sitting behind the wheel of her car and speaking to the officer.
US Vice-President JD Vance shared the clip on social media, commenting that the agent had acted in self-defence. Local officials have insisted the woman posed no danger.
Good's wife has paid tribute to the 37-year-old, saying the pair were trying to support their neighbours when she was shot. Her death has sparked protests across the US.
President Donald Trump's administration says Good tried to run over the US Immigration and Customs Enforcement (ICE) officer in an act of "domestic terrorism" after blocking the road and impeding the agency's work.
Democratic Minneapolis Mayor Jacob Frey has described that account as "garbage" based on the video footage.
The BBC has asked the homeland security department and the White House for comment on the new video that emerged on Friday.
The footage starts with the officer getting out of his car and filming Good's vehicle and registration plate while he walks around the Honda SUV. A dog is in the backseat.
Good says: "That's fine dude. I'm not mad at you."
Her wife, Becca Good, is standing on the street filming the interaction with her mobile phone. She tells the ICE agent: "That's OK, we don't change our plates every morning just so you know. It will be the same plate when you come talk to us later."
She adds: "You want to come at us? You want to come at us? I say go and get yourself some lunch, big boy."
Another agent approaches Good on the driver's side and uses an expletive as he says: "Get out of the car."
The agent filming the clip moves in front of Good's car as she reverses.
In a chaotic couple of seconds, she turns the wheel to the right and pulls forwards.
The camer