There is a police dog in the rear seat. My licence and registration are all in order.
This happened to a friend of mine and his adult son, traveling in Canyon country, Utah I think. He assumed it was a drug sniffing dog. I'm wondering whether that might have been an illegal search, so to speak.
The police officer is armed. There is a police dog. You do not want to upset either of them.
You don't have to answer questions. If you are not charged, at some point you are free to leave.
What else happened?
Were you charged with anything?
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As mentioned by another attorney here, you have a right to remain silent if questioned about any activities that may be criminal in nature. You also have a right to decline permission to search the vehicle if requested by the police. The police would need probable cause to search the vehicle, but a broken taillight is not probable cause to search. If a trained dog alerts to drugs in the vehicle, that can form the basis to obtain a warrant to search.
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