I'd recommend you video just after sunset for video. At least before it is completely dark. Although the camera is OK for video in low light, it's not great. For the framing of the video itself, you'll want to make sure you have some lighted subjects in frame, especially the darker it gets...or you may just end up with a lot of noise, tracer streaks, and nothing more of interest. At a certain point, if the only surrounding light is the tracers, the video won't be that interesting.
On the other hand, I've found long exposure photos in low light situations to be pretty fun. The stability is great...and does allow for some longer exposure times. Again you'll want some lit subjects in frame for interests sake... When taking time exposures, you'll to need to adjust your ISO higher as it gets darker. Just be aware, the higher the ISO, the greater the noise in the resulting picture...try to keep your ISO as low as you can, without requiring too long of a shutter. Take pictures in RAW (or RAW+JPG) as that'll let you do the best post editing.
If you know what time you'll be filming, I'd suggest a few tests. Find a roadway or overpass that has similar lighting conditions, and test some settings out with both Video and Photos with slow shutter speeds, when cars drive by. Obviously they won't travel as fast...but you'll get an idea of the performance of your difference settings under similar lighting conditions.
You also might do some tests in similar lighting conditions with a partner and a sparkler tied to a string.