If you want a more intuitive mechanical system, see the Boeing/somebody 1st stage engine recovery plan that uses a heat shield and parachute to land just the en

If you want a more intuitive mechanical system, see the Boeing/somebody 1st stage engine recovery plan that uses a heat shield and parachute to land just the engine, not the whole stage body. Don't forget the barge is also actively controlled to keep it stable. If you have sufficient control systems, you don't need mechanical aids. Just like humans can walk on two legs every day our whole lives using our brains, so we don't need four for "extra safety".