WATCH: Repeat offender leads deputies on 100 mph chase before hiding under porch in his underwear

A Colorado repeat offender turned a routine traffic stop into a dangerous chase and a manhunt that the district attorney says should never have happened.

Zakary Dean Hirschfield, 24, of Centennial, received a five-year prison term after pleading guilty to felony eluding of a peace officer following the January pursuit through Douglas County, authorities said.

Video released by the Douglas County Sheriffs Office captures the nighttime escape, the pursuit through traffic and the moment deputies finally took Hirschfield into custody.

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District Attorney George Brauchler said Hirschfield should have been locked up before he ever hit the gas.

"This case highlights the ripple effects of decisions made by other law enforcement agencies who had opportunities to lock this guy up before this dangerous episode," Brauchler said.

The pursuit began when a Douglas County sheriffs deputy pulled Hirschfield over for speeding in Castle Pines. During the stop, Hirschfield suddenly accelerated toward the deputy, forcing the deputy to jump out of the way to avoid being hit, authorities said.

Video of the stop shows a deputy standing beside the vehicle before it abruptly pulls away. The deputy moves clear as the vehicle speeds down the residential street.

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The deputy can be heard reporting over the radio that the driver tried to hit him. His female passenger screamed as he sped away, according to authorities.

Hirschfield tore through Highlands Ranch and Littleton at speeds exceeding 100 mph, crossing medians and driving against traffic before crashing into another vehicle, according to authorities.

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Pursuit video shows deputies following the vehicle along roads busy with nighttime traffic, passing other motorists as emergency lights flash ahead.

His passenger later told deputies she repeatedly begged him to stop. Instead, he abandoned her and the wrecked vehicle and ran, authorities said.

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Dozens of deputies, specialized units and aerial resources joined the search, with drones and a K9 tracking Hirschfield through a Littleton neighborhood.

Thermal drone video shows a person moving through an area with trees and brush as the aerial camera follows from above.

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About an hour after the initial traffic stop, deputies found Hirschfield beneath a porch, wearing only his underwear, authorities said. Body camera video