After a 40-minute chase, the Honda stopped on the Southern Motorway, near Skipton St in Mangere East, and the five occupants fled on foot. All five were arrested.
Auckland City district commander Superintendent Karyn Malthus said an internal investigation was done in addition to the independent report.
She said the outcome of the internal investigation would not be released.
"A number of lessons have been learned and we continue to provide training and information to our staff to enable them to make better decisions when dealing with a fleeing driver," she said.
"Police also note the IPCA's recommendation in relation to the identification of individuals driving police vehicles."
IPCA chairman, Sir David Carruthers, found that the pursuit should not have continued in the manner that it did and should have been abandoned.
"Officers repeatedly put the occupants of the Honda and other road users at unjustified risk due to their actions in making contact with the Honda and following it on the side of the road," he said.