Eviction Vs "pay & Stay"

My mother has received an eviction notice from her HOA. I recently learned that she hasn't paid her condo assessments in several years. The lawyer from the HOA just informed the family that she owes like 20K--most of it in legal fees and fines.
We have an exact $ dollar amount that needs to be paid. BUT...it looks like the HOA still wants her to be kicked out even if we do pay. The mortgage is paid up in good standing. How can a HOA kick her out if the debts and fees get paid? We obviously aren't going to cough up 20K only to have Mom lose her home anyway. We contacted a lawyer who said that we should just pay the fee. He didn’t think it would be worth our money to have him go to court for us. This eviction thing is the latest. Maybe now he does need to go to court to fix this eviction issue? Any ideas how we get to "pay and stay?"