Thank you for providing the name of your country.
The tire you shot was on a car that belonged to, and was occupied by, a man from Puerto Rico? The man was a U.S. citizen?
I still recommend you speak to an immigration attorney. Tell the attorney about the incident in Florida that led to the charges filed against you 16 years ago, explain why you left the U.S. before your court hearing, tell the attorney why you now want to return to the U.S. with your family, and discuss with the attorney your options.