This is a video from the Paley Center in NY on May 24, 2018, the panelists discuss the origins of the book, "Homicide: A Year on the Killing Streets," on which the series was based, the challenges of sticking to the show's understated "no car chases" tone, and their proudest moments from the series' run.
David Simon, Tom Fontana, Richard Belzer, Andre Braugher, Clark Johnson, Barry Levinson, and some writers, etc. About 14 minutes long.
https://youtu.be/AkGfJbLZtLU