I'm coming down mostly on the side of yes. As far as I can tell, if there had been gun control laws, the man who had his car towed would not have been the sort to illegally own a gun, so with simplae gun control laws the entire incident would have been avoided.
However, since America will insist on arming its citizens as best it can, it was perhaps fortunate that the truck driver simply shot back.
I have no problem with someone utilising self defence, even lethal self defence, against someone who has proven willing to kill or wound. Generally I think that the self defence meted out should be proportionate to the amount of danger the defender thought he was in. If someone threatens you with a knife, you are in mortal danger, and thus if you kill your attacker then it's fine by me.
But I think that giving your citizens the legal right to own instruments of death is just asking for trouble.