The moments before two relatives died in a fiery car accident have been made public as the actions of the two police officers pursuing them are examined.

Jebriel Dandan and Seifeddine Malas died when their car crashed on Sydney’s M4 motorway in January 2023.

Malas, the P-plater behind the wheel of an Audi sports sedan, was being chased by police when he went through a guard rail on a slip ramp and tumbled at speed.

The sedan came to rest on its roof on the motorway before catching alight in Homebush West.

Footage taken from the police car chasing the two second cousins minutes before the crash was made public by the NSW Coroners Court.

The clip shows limited visibility as the cars speed down Centenary Drive north towards the M4.

The officers are seen accelerating around a bend, reaching speeds of around 165km/h to keep up with the Audi in the distance.

At times during the pursuit, the cars exceed 200 km/h while passing a truck and other vehicles.

The exact moment of the car crash and fire was not played to the court or released to the public.

Coroner Joan Baptie is examining the conduct of the police car’s driver – Senior Constable Peter Miliadis – and his passenger – Constable Martin Williams.

The two officers did not immediately turn on their lights and sirens after seeing the speeding Audi, the cousins’ inquest has been told.

Instead, they chose to conduct a speed check by maintaining a set distance behind the other car for nine seconds.

The appropriateness of the decision not to alert Malas, 25, and Dandan, 24, of the presence of police behind them earlier is being examined by the coroner.

Counsel assisting Surya Palaniappan told the inquest in May that the speeds driven by the police were “excessive”.

Sen Const Miliadis was cleared of unsafe driving in July 2023 after an internal safe driving review conducted by police.

The review’s author, Sergeant Grant Howell, told the court on Monday he thought the decision to conduct the speed check instead of turning on lights and sirens earlier in the pursuit was appropriate.

Solicitor Oussama Elfawal, representing the families of the two deceased men, suggested the two officers had chosen “stealth over safety” during the high-speed car chase.

Malas had history driving at excessive speeds, the inquest was told.

At the time of his death, he was subject to a three-year licence disqualification after being spotted by police driving 176km/h in an 80km/h zone in June 2022.

He had been sentenced to a nine-month intensive community order and 100 hours of community service for driving dangerously.

He was due to back in court for an appeal the day after he died, January 24.

The inquest has been told the men died from the impact of the car crash, before the vehicle was engulfed by fire.