Once the Jeep Cherokee was turned over and pulled ashore, the woman was found in the back and buried beneath debris.
The Coast Guard said it received a call about two anglers in a 16-foot boat who were in distress.
Rescue crews found four people clinging to the sides of the sailboat and two underneath.
A 20-foot vessel with two adults and two kids aboard lost power and started drifting.
The Monroe County sheriff’s department said Monday that an autopsy confirms he was James P. VanDosen of Oakland County’s Waterford Township.
Police have re-opened the Grosse Ile Toll Bridge after a late afternoon water rescue.