Foster’s arrest came after a family member of one of the victims told police that Foster was carrying a handgun on the night of the incident.
After two years and the help of an expert witness, investigators concluded that a handgun was not used in the killing.
"I think once the state attorney's office took that into consideration, plus other info we provided, they reconsidered the strength of their case and did the right thing," attorney Jonathan Jordan told NBC 6 South Florida.
Now, authorities are looking for Taylor, whom they say committed the murder using an AK-47.
While in jail, he missed helping his mother fight colon cancer and watching his now four-year-old daughter grow.
"I still got emotions, I broke down in tears," said David Foster, about the moment last week that he found out he'd be released. "I was incarcerated for quite some time. It'll take me time to understand I'm free, 'cause I was in there a while, but I'm doing ok."
Now, Foster is focusing on getting has life back together.
"Before I got incarcerated, I was paying my bills, had a nice apartment, I had a car and I got locked up and everything vanished," Foster said. "Now I'm out, free, and I don't have anything, now I have to start from scratch all over again."