Victor Romero, a 62-year-old retired New York Police Department detective, was arraigned Thursday on a manslaughter charge after a fatal shooting on the George Washington Bridge on Tuesday evening. The victim, Koran Irvine, 46, a Con Edison worker, died from a single gunshot wound during his commute from Manhattan to the suburbs in Rockland County.

According to prosecutors, the incident unfolded shortly before 7 p.m. when both men were driving northbound toward their homes, which are located a few miles apart—Mr. Irvine in Valley Cottage and Mr. Romero in Haverstraw. Prosecutors detailed that as Mr. Irvine attempted a lane change approaching the bridge, his vehicle nearly collided with Mr. Romero’s SUV. Both drivers braked to avoid an accident and continued, but Mr. Romero soon began tailing Mr. Irvine closely. He then pulled alongside Mr. Irvine’s vehicle, fired a gun through the rear passenger window, and sped away without calling emergency services.

Mr. Irvine’s car lost control, crossing multiple lanes before crashing into the center median. He was pronounced dead at the scene from a single bullet that struck his right shoulder. Surveillance footage captured parts of the encounter, and Mr. Romero was arrested Wednesday. His bail was set at $1 million.

At the arraignment, prosecutors characterized the shooting as a “particularly senseless killing.” Mr. Romero, appearing quietly in court, was represented by counsel who highlighted his clean record as a former police officer and noted his responsibilities as a father of four. However, attorneys representing Mr. Irvine’s family argued that the charges should be upgraded to murder and called for Mr. Romero to be held without bail.

Neighbors in both men’s communities described contrasting images. Mr. Irvine, originally from Brooklyn, was remembered by friends as a devoted family man and avid supporter of the New York Jets, often hosting tailgate gatherings. His sister, Zeria Irvine, emotionally spoke of his dedication to his family and his demanding work schedule at Con Edison, underscoring the loss felt by those close to him.

Mr. Romero was described by Haverstraw neighbors as a cordial and normal resident who hosted neighborhood barbecues. Police recovered the loaded revolver from Mr. Romero’s SUV, which he acknowledged owning, and two additional firearms were found at his home.

The case remains under investigation as the legal process moves forward, with the Manhattan district attorney’s office overseeing the prosecution.