Today the presence of police in their uniforms and marked patrol cars does not deescalate situations; today they escalate situations by imposing a threat of authoritarian control where folks just want to go about their business.
There is a lot wrong here. Folks "going about their business" generally have no police interaction. There is substantial research suggesting the intimidation of police uniforms and the presence of several will deescalate a potential violent situation. Most of the time, the subjects are intoxicated or strung out on something so there is not a lot of rationality going on. This is why it is police standard of care to always call for backup at the first sign of potential use of force or other similar situation. This is why 4 cops showed up instead of 1 or 2 in marv's bird video.
Too much authoritarianism resulting from stuff like the militarization of police (no knock warrants, the widespread deployment of SWAT teams and the like) and civil forfeitures has caused this result, not "legitimizing citizen resistance to police".
SWAT teams are never the first contact. They are always used in response to a situation that was not brought under control with normal street policing. SWAT is specialized training and using SWAT is considered safer for both the officers and subject. It's hard to say if there is "too much" militarization. Once again, this is not routine an usually flows from an out of control event, or as standby to a highly combustible riot situation. In my experience and knowledge, the vast majority of SWAT call outs result in a situation brought under control with no shots fired or other violence.
Civil forfeitures are not in the hands of the cops. No-knock warrants are not handed out like Halloween candy. There are requirements that a judge must review.