There's really no such thing as "the law is clear." Look what happened to very clear one saying "...the right of the people to keep and bear arms shall not be infringed." If that one was clear, there would be NO laws at all placing any sort of restrictions on knives, guns, clubs, you name it. Lawyers can always twist things.
If a shooting actually went down, I think the scenario would matter a lot. A gun-hating Prosecutor would say in the scenario as described that by grabbing the duffel bag from the fleeing perp's vehicle, "...you predictably escalated the potential violence of the situation." If you shot him then, they might try to hang you.
OTOH, suppose you'd jumped into your car before realizing someone else was in there, and only then become "in fear for your life." Different picture.
“The police of a State should never be stronger or better armed than the citizenry. An armed citizenry, willing to fight is the foundation of civil freedom.” Heinlein