Christopher Daniel Shaw (aka Hubbard) was jailed for nearly a decade following a 600km crime spree which ended in Palmerston in February 2009.
The 34-year-old was allowed early release seven years later but was back behind bars within six months, after making phone calls to serving prisoners.
At his most recent parole hearing at the end of May, he was given another chance.
Shaw had engaged in individual counselling with a psychologist between for nearly a year, the board said, and he had updated his safety plan.
"It was imperative that Mr Shaw abstained from the use of substances," panel convener Neville Trendle said.
The prisoner's lawyer Judith Fyfe stressed the support her client had on the outside and submitted that there had been evidence of change since he was recalled to prison.
Shaw and then partner Stacey Estelle Snelleksz fled their home in Palmerston North after learning Snelleksz's two children might be removed by Child, Youth and Family.
They stole goods worth at least $45,000, including a Land Rover, kitchenware, groceries, a trailer, camping equipment and food.
Snelleksz drove at high speed while being pursued by police cars and swerved to evade road spikes, while Shaw pointed a rifle out of the passenger window at the following units.
He later fired as they passed two constables standing near their car, sending them diving for cover.
When Snelleksz later lost control and the vehicle crashed into a tree, police were surprised anyone walked away from the smash.
But they did.
The couple, with the two children, walked 6km, shadowed by police, during which the man aimed the weapon at those in pursuit.
Police believed Shaw used one of the children as a human shield at one point, the court heard at sentencing.
The prisoner's sentence end date is January 5, 2019 but the Parole Board said his risk could be managed in the community by way of strict conditions.
Mr Trendle requested that a report by Shaw's Probation officer in October to update them on his progress.
Shaw's conditions of release, which run six months past his statutory release date, included. -
• To attend counselling.
• To live at an approved address.
• To submit to electronic monitoring as directed by a Probation.
• To remain at home from 10pm to 5am daily.
• To notify a Probation about changes to employment status.
• Not to have contact victims of offending.
• Not to communicate with co-offender, or anyone to associate with the Skin Heads.
• Not to possess firearms or ammunition.
• To disclose to Probation details of any intimate relationship.
• Not to use alcohol or drugs.