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I would have called the law and had him charged with P.I. And had him and his car towed away. He had to drive to your house that way so he showed no respect for other lives he passed on the road driving. But that's just me.
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That's just what you should do. That way the next time he realizes he's too drunk to drive he won't pull over and stop because you had him thrown in the drunk tank the last time he tried to stop driving.
Back to the topic:
As far as warnings go, once the door has been breached the time for warnings has passed. While the breaking in was ongoing you might yell out a warning that you will shoot if the door is breached, but that can have it's cons as well. If the perp does a mag dump through the door and kills you before he gets inside the warning certainly isn't beneficial...