At the 4:20 mark you can see the initial contact between him and the vehicle. It's him making the contact with an outstretched hand with his legs and torso cleared from the front the vehicle. What is "unclear" and "impossible to determine" is if there is additional contact with his upper body. But any additional contact with his upper body would have been because he initiated contact with the vehicle in the first place. Again, you can see a very visible space between where his feet are positioned and the front of the vehicle, and you can see that she is turning the vehicle away from him. He leaned into the vehicle to make contact while she was trying to avoid him.