Me personally? Given the circumstances, I would've stayed in a position of safety and been a good witness. I am not a LEO, nor am I trained to clear houses. FWIW, Mas Ayoob also says that once you have declared that a broken into home is LE's arena, you're to stay out of it. It's all too easy to be shot by a responding officer who wants to return home alive and doesn't know if you're the "bad guy" or not.
I don't doubt he had noble intentions, but I opine that seeking the burglars out when no imminent threat existed wasn't smart (but arguably not illegal, either), and that shooting at a fleeing vehicle comprised reckless endangerment at best.