Antonio Gazo, 22, and Rodney Quiros, 24, were taken into custody shortly after the crash early Saturday morning.
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Modesto Police said they tried to pull Gazo and Quiros over after finding out the car they were in was stolen. A chase ensued, and police said the suspects fired shots at them.
The car jumped a curb and crashed near a taco truck, killing two bystanders.
Police said Gazo and Quiros ran from the scene but were quickly arrested.
Two guns were recovered from the car.
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The men were booked into the Stanislaus County Jail.