She said Matheson, a greenstone carver, had made one "momentary lapse".
"He is a good person ... in the Ford Block community they call him koro," she said. "A family lost a loved one but he can't regain his own mana in the community until this matter is resolved."
Ms Sykes said Matheson had taken part in restorative justice and wanted to create greenstone taonga for Mr McCauley's children.
"He wants to offer that as part of a tikanga process," she said. Ms Sykes said reports showed Mr McCauley was driving without a licence and had methamphetamine and alcohol in his system at the time of the crash. While Matheson had accepted responsibility for the crash, those were factors for the judge to take into account, Ms Sykes said.
Judge Ian Thomas said there were no winners in cases such as this.
"[It] will be on your conscience for the rest of your life," he told Matheson.
He said the level of carelessness shown by Matheson in "not keeping a proper look out and not seeing him [Mr McCauley] then turning in his path" was at the lower end of the scale.
Last August Mr McCauley's partner Susie Turner told the Rotorua Daily Post Mr McCauley, affectionately known as "Bull Frog", had been on his way home to Te Teko from a motorcycle ride around the Bay of Plenty with friends when the crash happened. She described him as a good dad to his three children from a previous relationship and someone who would jump to help friends and family at any time.