Adam Clapham was found unresponsive by police who responded to calls over concerns for his welfare on Monday in Rotherham.
The victim was later pronounced dead at the scene.
Robert Crookes, 31, Lynette Myers, 38, and a 16-year-old boy have been charged with murder, false imprisonment, section 18 grievous bodily harm and oral rape.
Martin Shaw, 43, has been charged with assisting an offender.
South Yorkshire Police said Mr Clapham’s family have been informed and are being supported.
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Ch Supt Laura Koscikiewicz, district commander for Rotherham, previously said: “We continue to make progress and piece together the circumstances which have led to the tragic death of this young man.
“We have been conducting several enquiries in the surrounding area and there are a small number of scenes in place as our investigations continue.”
Officers remain in the area carrying out patrols however the presence should not be of concern to residents.
She said: “We understand incidents of this nature cause great concern among the local community, and we will remain in your neighbourhoods over the coming days to provide additional reassurance to local residents.”
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Detective Chief Inspector Emma Knight said police were working to establish what had happened.
She said: “We have been conducting a number of enquiries over the last few days to establish the circumstances surrounding the death.
“We also have a number of officers patrolling the area to provide further reassurance to local residents.”
She urged members of the public to come forward with any information about the crime “no matter how small”.
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Anyone with information can contact South Yorkshire Police by Live Chat on their website, the online portal or by calling 101 and quoting incident number 256 of 19/9/22.
Those who wish to give information anonymously can contact independent charity Crimestoppers online or on 0800 555 111.