Perhaps getting into an altercation wouldn't turn out well. As far as your fate, if they wanted you to get into the truck, there are ways to die and there are ways to die. You don't have to look far in recent history of stopped black men to know that.
Might he have run in the direction opposite of the truck? Run on some neighbor's lawn and started screaming for them to call the police. Sit down so they could not move him easily? Perhaps.
The onus however is on the two from the truck. They accosted a man with instruments of lethal force with no good reason. We can parse alternative universe outcomes all we want. They initially skated because of connections, what else is new?