Hm, spiral remains my biggest concern... However! I have an adventure of daring do to brag about! So, I design my ship, 3-man pod, buncha rockets, RCS etc, with a separator on the pod for re-entry. Fly up, nab the asteroid (on try 12) and set it into an oval orbit around kerbin (low side, 129km, high side 500km) when oh no! They run out of fuel! Stranding our heroic trio on the rock. Don't fear though! I made a 3-landing-pod-ed science explorer to come up! Sceinced like mad, lab, everything. However, like a fool, I didn't check for stowaways and there is Bath Kerbal flying the thing (didn't uncrew it :V). Okay, well, whatever. Up it soars, rendezvous with the rock, latches on! Science!!.... yields squat. Seems you can only get samples from the thing. Sadness. Well, I transfer the rescued three over to the three lander pods and sentence Bath to sit in the original pod.. That is when Jeb has the genius idea of using the claw to latch onto the pod and carry Bath home to freedom! Reoriented, attached the claw to the pod, released the pod's claw from the rock, adjust orbit to skim atmo, bingo bango, everyone gets home safe! Deployed the pod's chutes in atmo, releasing the pod a bit before they fully deployed so that everyone lands ideally and close together. Well done all!