Most likely, Castile’s only offense was to resemble a robbery suspect. Combine that with miscommunication between him and the officer and the officer’s trepidation, and you end up with a tragic outcome.
I think this may be closest to the truth of what happened here.
But I must say that if I was stopped with a gun on my hip and a CCW, I’d keep my hands solidly on the wheel and be VERY careful about my movements. If the woman next to me tried to start anything, I’d calmly tell her that we would talk later and to stay out of it and not get me killed.
I learned this from Chris Rock’s video, “How not to get your a$$ kicked by the police.” Subsection: “don’t drive with a mad woman”.