a federal agency that doesn't follow the law should lose the protection of the law. Charge the ICE agents with attempted kidnapping of the immigrant and actual kidnapping of the judge.
I imagine they'll soon be putting a spin on George W Bush-era legal arguments about the applicability of Geneva Conventions on "non-uniformed combatants". In this case, if the ICE agents weren't uniformed at the time of arrest, they can't be considered agents of the federal government, and thus can't be subject to legal redress.