A Palestinian woman in the auto was critically wounded.
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Kiryat Arba is an Israeli settlement in the southern West Bank close to the flashpoint Palestinian city of Hebron.
The soldiers prevented a Palestinian Red Crescent ambulance from reaching the scene, said the witnesses.
The attack followed three separate incidents on Friday.
Spokeswoman Luba Samri says the man pulled out a knife and rushed at officers outside the Old City who opened fire Friday. Many Palestinians hold Jordanian passports, and Israeli police said on Friday they were checking if Amro also had Palestinian papers. Previously there had not been an attack in three weeks.
Video of the scene shows a small pickup truck with a smashed front bumper.
Palestinians say the violence is rooted in decades of living under military rule and fading hopes for independence.
In a statement, the Palestinian presidency called the killings “crimes. that confirm once again that the Israeli government is pursuing a policy of escalation” and ignoring global peace efforts.
The five attacks on Friday and Saturday – three stabbings, a vehicle ramming and a rock throwing – caught many Israelis by surprise, as the violence that marked 2015 and early 2016 appeared to have waned in recent months, and raised fears that regular attacks could return.
A spokesperson for the IDF sad attacks were “just another example of the danger of Palestinian incitement spread through social media”.
“Mohamed Saraheen, 30, was shot and injured by Israeli forces during clashes that occurred in the village of Beit Ola near Hebron”, the ministry said in a statement.
On Saturday, the military said a Palestinian pulled out a knife during a security check in the West Bank city of Hebron and stabbed a soldier, prompting forces to open fire and kill the attacker.
During the same period, Palestinian attackers have killed at least 33 Israelis in stabbing, shooting and car-ramming attacks.
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Several incidents have been contested and the United Nations has voiced concern over reported “excessive use of force”, calling for independent investigations into each death and injury caused by the security services.
