You’ve got to do a lot to get URIPD to pull you over (much more than a regular cop). They’re notorious for doing as little work as possible. The cop wasn’t apologetic towards you, he was feeling sorry for himself that he had to actually do something. Probably wasn’t a slow roll through the stop sign, more a 20 mph coast that he couldn’t choose to ignore.

Regardless, it’s easy to get stuff expunged if you’re a good driver. You won’t have any trouble.