The Navara collided with Townley’s Great Wall utility.
Rolfe allegedly carjacked a woman at knifepoint hours before the catastrophic incident.
Brother Brodie Satterley told 9News Gypsy was his rock and was there for everybody in the family.
“There’s no words to describe the feeling you feel when you receive a call like that,” Satterley said.
“She was fun, cheeky, just energetic, one of a kind.
Gypsy leaves behind two young children, aged 5 and 6.
9News can reveal the young mum’s brother went to North Arm State School with the accused murderer but said he didn’t know much about the relationship with his sister.
“You can only imagine how I feel about him right now. I won’t put it into words,” he said.
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“She was obviously very scared for her to jump out of the car and hail someone down, so you can only imagine the fear that was going through her.
“None of us saw this coming.”
The Satterley family paid tribute to long-time Brisbane resident Terry Bishop.
Bishop was retired and was living in the Mackay region.
“Terry died a hero in our eyes. We send our love to both of their families,” Satterley said.
The family is now focused on organising a fitting farewell for Gypsy.
Rolfe has been charged with three counts of murder and remains under police guard in hospital.