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You did right.
The first thing you did right was decide to carry. Don't let anyone second guess you for that.
The second thing you did right was not shoot him, although the choice was clearly his to make, not yours, when he was within arms length of you.
I would not have let him approach me inside my car, either. If he was armed, your family would be in the line of fire as well as you. Getting out was the right thing to do.
The third thing you did correctly was to call the police. Hopefully they will find this individual and arrest him. He needs to learn appropriate behavioral patterns.
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