Dramatic scenes have played outside an Adelaide court, with three teenagers charged with manslaughter over a fatal hit-and-run crash released and then immediately re-arrested on the courthouse steps.

Video showed the accused boys aged 13, 14 and 15, being taken away by armed officers in front of shocked family members after their appearance at the Adelaide Youth Court.

Some of family members expressed outrage at the way the boys were treated, with the mother of one calling on police not to hold his arms because he was "not resisting".

A senior police officer at the scene offered no comment on the fate of the boys or whether they were to face the same or different charges.

A few minutes earlier a fourth boy, aged 15, had appeared in the Youth Court and was remanded in custody on a charge of aiding and abetting manslaughter.

Meanwhile, Lyle Leonard Morrison, 18, appeared in the Adelaide Magistrates Court and was remanded in custody on a manslaughter charge.

Mr Morrison will return to court in October.

All five were originally arrested yesterday over Sunday's crash which claimed the life of Lucy Paveley at suburban Parafield.

The stolen car was towed from the scene. (9NEWS via Lauren Barker)

The 40-year-old died when an allegedly stolen 4WD slammed into her car at an intersection on Main North Road.

It was also alleged the teenagers in the 4WD fled the scene of the crash.

Yesterday tributes flowed for Ms Paveley, who lived in Mawson Lakes and had a primary-school aged boy and girl with her husband.

Lucy Paveley, 40, died at the scene of the crash. (Supplied)

“She was very kind, a very good friend of mine, it was a blessing to have her as a friend and as a neighbour,” Leena Ratnaparkhe told 9NEWS.

“She was a dedicated mum, I used to give her example to everyone, she was a great lady, so great.”

Peter Sandeman from Anglicare described the death of Ms Paveley as “senseless”.

Three people arrested were later released without charge. (9NEWS via Lauren Barker)

“She was a great care worker... she would have been a fantastic nurse,” Mr Sandeman said.

“There are no winners out of this. The lives of those who committed this crime are going to be impacted forever, and the family themselves have suffered a great loss.

“Nobody wins, everybody loses from a senseless death.”

A memorial service is being planned by Anglicare so Ms Paveley’s colleagues can say goodbye. Her employer is also helping with funeral arrangements while extended family travel from overseas.