The main arguments for wiggling around it are based on balancing multiple lives against one. There’s a ton of commentary that are basically trolley problem examples. So self-defense is ok, intent matters, etc. Very similar to how most Western legal codes (quite possibly more, I’m just less familiar) distinguish between manslaughter, murder in the moment, planned murder, etc.

Keep in mind it is a religious text, so it obviously also carves out a bunch of stuff around killing for the purpose of enforcing laws (capital punishment), warfare, etc.

I would not be surprised if there’s something in there about how it’s ok to kill people who tie their shoes the wrong way.