The Los Angeles Police Department was initially the lead agency in the pursuit as it made its way through the Boyle Heights area on the 60 Freeway.
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The female suspect behind the wheel managed to find gaps in rush-hour traffic as she later transitioned onto the 605 Freeway in the San Gabriel Valley.
With a law-enforcement helicopter's "night sun" shining brightly on the truck, the vehicle exited onto surface streets in the El Monte area before entering the 10 Freeway and heading back toward downtown L.A.
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Several California Highway Patrol units kept pace behind the suspect, with their emergency lights flashing.
Chase ends in downtown LA as 2 women ditch truck, take off with dog
Shortly before 7 p.m., the driver approached the ongoing closure of the 10 Freeway in downtown L.A. and decided to again exit onto local streets.
The two women then got out of the truck and took the dog, which was on a leash, with them. Minutes later, the driver was tackled by an officer as she ran into the middle of traffic stopped at an intersection.
The passenger was seen talking on the phone and wandering through the area while the dog remained with her. After officers approached her in the parking lot of a fast-food restaurant, she tied the dog to a short pole and surrendered without incident.
The circumstances and location where the truck was stolen were not immediately clear.