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LINDEN, Texas—DPS Trooper Scott Burns, who was killed in the line of duty Tuesday night, is being remembered as a man who made the most of his 39 years.

Although his family and members of the community are devastated by his sudden and inexplicable death, they seem to realize no one knows how much time they have and it’s wise to make each year count.

“It’s been a long-term dream of Scott’s to work in law enforcement, specifically to become a DPS officer. He was so excited about it—enjoyed his work,” said Kenny Hamilton, Linden mayor and Burns’ cousin. “He was a real good...