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There were a lot of episodes where the detectives had to open fire to defend themselves. I was wondering, in how many incidents did people actually die as a result? I'm not questioning the cops' need to use their guns. Just trying to remember if anyone ever was depicted as losing their lives in it.

Yes, people died all the time on MV, however, if you check out A-team, you'll find thousands of rounds fired out of automatic weapons and NOBODY dies.

I heard an interview with a Miami crime reporter a number of years ago.  She stated that a cop who had killed as many people as Crockett or Tubbs had would have been fired .