Authorities say 38-year-old Benjamin Shively died Saturday at North Kansas City hospital.
Troopers say Shively was driving on I-29 near Platte City on July 2 when 35-year-old Justin Burkholder hit the Overland Park man's SUV head-on.
Burkholder died at the scene.
Authorities say Burkholder was running from police in a stolen truck at the time of the crash.
Two stolen guns were also found inside the truck.