During the pursuit, the truck had been stopping for red lights and driving near the speed limit. Periodically the truck would stop and those inside would speak to bystanders before taking off again. The bystanders were then questioned by pursuing officers.
At one point the truck stopped and Mitchell asked another motorist, the Rev. Mark Cooper, for his phone.
"I rolled down my window to ask if she was all right, and she said, 'Please can I have your phone, please can I have your phone,'" said Cooper, who quickly gave his cell phone to the woman. Cooper said he didn't see a weapon in the suspect's hand and that he seemed very calm.
The chase affected traffic in large parts of the area in northwest Miami-Dade County as police closed down intersections to clear way for the chase.
Small crowds of people gathered at certain street corners to watch the pursuit, but police asked onlookers and drivers to stay clear of the area.
ABCNEWS affiliate WPLG in Miami and The Associated Press contributed to this report..