"Basically Mr Richards became involved in a stupid theft of petrol and [his] consequent fleeing from the petrol station with reckless driving, including driving at speed down a one-way system, [led] to [the] death of one of the passengers of the crash," MacLean's judgment said.
Richards and Strange were in the same car with several others when it collided with a ute at the intersection. The driver of the ute performed CPR on Ms Strange, but she died soon after.
MacLean's judgement said Richards told the Parole Board he had been "haunted by the death of the victim".
He was "motivated" to rehabilitate himself and had done a joinery course and obtained a forklift licence while in prison.
MacLean said Richards was at medium risk of reoffending and high risk of causing harm, "as evidenced by the consequences" of the 2015 crash.
"It is clear at this stage that there is considerable work to be done."
Richards appealed the sentence in June last year, believing it was excessive, but was not successful.
He will reappear before the Parole Board in April 2019.