A short time later armed response officers arrested two men in a vehicle near to Shrewsbury's Heathgates Roundabout in connection with the incident.
A man, aged 32, was arrested on the suspicion of possessing a firearm. A second man, aged 33, was arrested on suspicion of conspiracy to commit robbery.
Both men remain in police custody as investigations continue.
A police spokesman said "Anyone who may have witnessed, or captured dash-cam or CCTV footage is asked to please get in touch by visiting https://www.westmercia.police.uk/tua/tell-us-about/cor/tell-us-about-existing-case-report/ or calling 101 quoting incident 146i of 28 May, 2022.
"Alternatively, if you have information but don’t feel comfortable speaking to police, you can speak to the independent charity Crimestoppers. It is 100% anonymous, they never ask your name and they cannot trace your call or IP address. You can contact them at https://crimestoppers-uk.org/ or by calling 0800 555 111."
