Steve lives down the road a piece from me (I live in Livingston Parish, Steve's next door in Tangipahoa Parish), and I've run in to him on occasion at car shows and such.
All of his videos are "staged", but sometimes the cop doesn't know it. He gets clearance for the prank through the chief of police of whatever small town he's making his video.
For instance, when he stole the cop car, do you really think he would be out of prison by now? They were all in on it. Do that for real, and it's a good way to get an ass full of lead.