You handled yourself pretty well. (The butterflies sure get to churning, don't they?)
Several items of advice
of which, I have also done, so please don't view my comments as "preachy" or condescending.)
The stop was, as you stated, unlawful. Without probable cause, there is no reason you should not be able to continue your peaceable journey.
The law enforcement officer , not you, is now "on the hook" for
his behavior. Realize this. Have confidence in this. The law works as equally for you as it does for him.
I completely understand the tendency to comply with law enforcement. I also have an ingrained respect for authority. I have also responded to unlawful actions by law enforcement by complying with their unlawful demands. It's the butterflies. Something about the emotional content of the interaction, and the unlawfulness of the officer. I never seem to say the right things until
after I review my actions. Then, I watch the video of my interaction and view myself kow-towing to the most egregious rights violations. I can watch a video of my interactions with law enforcement 5 minutes later, and cringe at some of the things I have willingly accepted. I think to myself, "Why didn't I say this?" or "Why did I answer that question?" or "Why did I agree to obey that unlawful command?".
Similarly, I see some of the things I have done in your video. This is why I'm pointing them out. Not as criticism, but to offer advice and relate my experience at overcoming the things I realized about my own interactions with law enforcement.
YOU are in the right. Realize this. Have confidence in this. Rely upon it. Take heart in the fact that you have done nothing wrong, and
the officer is the one who needs to explain his actions to YOU.
There was no need to volunteer your CCW. While courteous, the only purpose it served was to justify the officer's actions. HE needs to request it. Don't make it easy on them by willingly tossing your rights away, not only upon request, but out of the blue.
If he did ask, remember: HE is the one justifying his actions to you, not the reverse. Upon request for your papers, he should be required to tell you why he wants to see them. Asking him "What probable cause do you have?" is always a good question that requires them to explain their actions. If their actions are lawful, they should have no problem answering your questions, right? (See how the interaction demographics are subtly being altered? Remember: HIS actions are unlawful, so why should YOU be answering questions?)
Have confidence in this. If you were, in fact, breaking any laws, there would be no question and answer session. You'd be immediately placed into custody.
I once heard a brilliant piece of advice: If you are currently NOT under arrest, you can't talk your way out of it. This leaves only one direction to talk yourself in.
I know from experience that it is hard to do, but faced with what I watched in the video, the officer shouldn't have been offered such compliance. He should have been asked if you were being detained and for probable cause. If told yes, you were detained, he should have been met with a request for an attorney and further silence. If told no, you weren't detained, he should have been met with a "Have a nice day." and your disappearing tail lights.