Mangels was granted parole nearly a year ago despite the vehement protestations of McKinnel's family.
''We have serious concerns about his chance of reoffending and would not want another whanau to go through what we have," they said.
But Young said Mangels had complied with his conditions since being released, was engaged in counselling and had tested negative for drugs.
The board, at a final progress meeting last week, heard the killer had stable accommodation and was working on a dairy farm.
Because of Mangels' "excellent progress", Young cancelled the 10pm-6am curfew he had been subject to.
However, a bid to change the bounds of his exclusion zone and come off the GPS tracker was declined.
"Mr Mangels did not have any compelling reasons. We contacted some of the victims before [his] hearing today and their feedback was to strongly oppose any change to the geographical restriction and so we refused that application," said Young.
However, he said the restriction would end in August.
Mangels was released last year despite claims he was unable to remember his murderous attack.
He said a head injury he sustained after a clash with a gang in 1999 meant he had no memories from before then.