IRS Impersonation Scam Story

I missed 4 calls and had this crappy voicemail: "RS, the matter...is extremely constitutive and urgent; as after audit, we found that there was a fraud and misconduct on your tax which you are hiding from the government. This need to be rectified immediately so do return the call after you receive the message, the # is 2026189029..." So I called back but it says the line was busy. The number called me again and I answered hello and received a response of a complete voicemail voice and I understand that it says it's from the IRS; so I called back again, line was busy, called again until someone answered. He sounds like a Mexican and I don't really understand everything he says  because of his accent. What I only understand is that he said, there is a mistake in my submitted file tax about my phone and that I have to resolve the matter I have two options which is to pay $2850 or to deal with it on court and if I lose the case I will pay more than $35k. He also gave me information to jot down such as my Arrest #: 00-100-3636 and Case File  #: 421-209 and introduced himself as Officer Brendon Hammer and that his Badge # is AM165384. He also asked me random questions but not my address or identification number. I told him I don't have enough money and that I am unemployed right now to pay $2,850 and that it was my first time to file a tax and someone did it for me, plus I'm a recent immigrant. He convinced me to choose the two options and when I choosed to agree just to pay the amount he transfer me to the other line, I can't remember his name, his English is much better. He asked me what bank do I have specifically my credit card and when I said that my fund isn't enough he told to go to the bank and make cash advancement on my credit; told me to not hold, mute or hang up the line as I go there or else I will immediately a fraud and that I will be arrested, he also let me pick to have the conversation public or private which public means it will be on the news and it may affect my records, therefore I choose private which means I cannot tell anyone about the conversation until after the call or else it will just be public. When I'm preparing to go I told him my dad is not home yet to give me a ride so he offered he will send a law enforcement to give me a ride or escort me so I just said I'll just walk to the bank, he asked me how long will it take me there and reminded me that I should not hang up, mute, or hold the line while walking. It was 30-45 minutes walk to the bank and they mute their line and told me just to tell them when I am at the parking lot of the bank and then they will tell me what I'll do next. I secretly texted my dad about it because I am thinking it might be a fraud and I don't have money anyway. Luckily, my dad replied that it's not the way how the government or IRS operate even though there is a real mistake on my tax filing. So I decided to hang up and go home.