I think this scenario is ridiculous. First of all, you are the one who is better armed. Many criminals are cowards and only like easy pickings. You with a gun and him with a knife is not in his favor. Secondly, he won't grope you for your firearm. He will probably jam his knife in your back and then take your gun.
The most important thing for self defense is situational awareness. After a confrontation like the one you initially mentioned, you will probably be super alert. If you didn't draw the gun in the first place, you would probably have been robbed. If you shot the guy in the back as he ran away, you would most probably be arrested, prosecuted, and incarcerated.
Don't try to over analyze everything. If someone pulls a knife on you, draw your gun. If he runs away, watch which way he goes and get to your car as quickly as possible. Have the person who you are with covering you 6 or at least on the look out. Leave as quickly as possible. The end.
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The ATF should be a convenience store instead of a government agency!
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