The footage, shot on Monday, shows Miller trying to leave the neighborhood in his truck, but a resident has pulled in front of him, refusing to let him leave.
Miller, who is wearing a uniform with his name on it and driving what is clearly a large cargo truck, immediately begins recording.
The driver of the car gets out and identifies himself as David Stewart, claiming to be the HOA president, and demanding to know where Miller is going.
"It's none of your business. I'm going out, that's where I'm going," he responds.
Despite pointing out he obviously had the gate code, which had been given to him by his customer, Stewart refuses to move.
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"These are private streets, and I want to know where you're going," he tells him.
Miller makes light of the situation, calling Stewart "Napoleon", "Mayor of the cul-de-sac" and — when a second homeowner joins the standoff — "Cagney and Lacey", when engaging with them, but frustration starts to take hold.
"I'm trying to keep cool, I really am," he says, his voice quivering as he tells a co-worker over the phone what is going on. "I need to calm down before the cops get here."
When the second home owner — also white — arrives, Miller politely tells him he's trying to leave.
"Why?" the man asks. "What were you in here for? Did you make a wrong turn into the neighborhood?"
"This is our street. This is a private street," Stewart chimes in.
Despite telling Miller — who never unlocks his door or even takes his seat belt off — they had called the police, they never turn up.