The 30-year-old from Plaistow was found with stab injuries in Epping Road on June 23, 2020.
Stephen drove away from the scene towards a Shell garage and got out of his car as he collapsed on the forecourt.
Emergency services were called to the scene and he died in hospital later that evening.
Yonas Girma, 28, of Hounslow Road in Hanworth, has been charged with murder.
He was arrested in Feltham on Tuesday (July 8).
Girma is due to appear in Southend Magistrates’ Court today (July 9).
Essex Police says that more than 200 hours of CCTV footage was examined and that officers have seized and reviewed more than 1,000 exhibits, 50 phones, almost 40 computer items and five vehicles.
He said: “Today’s action is by no means our end goal, but it is a significant step in this investigation.
“Over the last five years, we have encountered a number of challenges, and we have never lost sight of the reason we continue to work so determinedly – and that is to secure justice for Stephen’s family and friends.
“They have been without Stephen for five years now. That’s five years without a loving son, brother and uncle.
“Our continued focus on this case means we have left no stone unturned, we continue to strive to bring those responsible for Stephen’s death to justice, no matter what it takes.”
