Sure in general, if a driver can get back on track, it's better to have a yellow. Not to interrupt the session and get going.

I think after Bianchi (RIP) they changed the rules that if there are people on track or they are needed on track, it needs to be red or SC before it's allowed. And with the mandatory SC deltas for all cars. Later the VSC is introduced and got incorporated where under certain conditions a VSC is enough for a marshal to be on track. Like for example to get a bit of debris off the track with a brave person running out and grabbing it. With the damage to the barrier, people were required to be on track, so it should have been red as soon as possible to get that going.

And it's a hard job, I fully get that and it's hard to make the right call all the time.

But in this case, with the state of the car and the state of the barrier, I don't see it as something that should depend on what the driver inside the car is doing. And we've even seen teams and drivers getting punished for trying to drive back cars in an unsafe condition.