Forking over extra money right after she cleans up everything seems to make the quid pro quo pretty darn obvious to any judge or jury.
A judge signed off on the plan to do the video surveillance, and it seems highly doubtful that another judge is going to go after the previous judge for poor decision-making.
Sure, there has to be a pretense to stop the car, but something as simple as rolling a stop sign is adequate. Then the cops can ask for lots of things and it is up to you to say no. Kraft could have refused to show his own ID, since he wasn't driving. If he doesn't assert his rights, that really on him. Like when they want to search your car without a warrant. If they ask, you can say no. But if you say yes, then whatever happens is on you.
There are legal loopholes and his lawyers will work them, but I still don't think it looks good for RK to get out of this except for working a plea to a lesser offense, like 2nd degree misdemeanor with no jail time.