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There are a number of mods that address this issue in varying ways.
UPD: here is the link for its page on KSP forum
https://forum.kerbalspaceprogram.com/index.php?/topic/78226-14-stagerecovery-recover-funds-from-dropped-stages-v180-march-11-2018/
It is possible to build a single stage to orbit (SSTO) spacecraft that delivers a payload into orbit, returns to Kerbin's surface, and gets recovered. I recall I did some experiments along those lines a couple years back, and here are the key points I recall:
No, being debris or a craft isn't the issue.
Anything leaving the active physics bubble inside the atmosphere is deleted. No exceptions.
I would second the Stage Recovery Mod. It works well in real practice, modeling returnabe stages. 2 km/c max air speed plus default limits on touch-down speed (variable 6-12 m/s) work awesomely and suffiently "Kerbalistic".
Stage Recovery Mod intercepts the deletion request and performs it's own basic modeling of what's going to happen. Including
1) simulated parachute deployment (definetly works),
2) powered descent (supposed to work with probe + engine + some fuel)
3) heat shield abblator application to prevent burn-out when overspeeding
#1 definetly works even in Real Solar Sustem / Realism Overhaul / RP-0 combinations. Parachutes are what I use for my booster or stage 1 needs.
#2 and #3 anekdotaly supposed to work and I saw them coded in the mod, but most likely only work with stock engines, fuels and heat shields. Have not use that succesfuly (since I mostly play RSS for extra chalenge), but feel free to try lastest builds.
This mod allows to split time in parallel lines, allow you to control all parts of the split aircraft, and then merge the landing outcomes.
Imho, for basic booster stages, esp Solid Rocket Boosters this is just too much work for very little fun. Boosters tend to be rather predictable in low atmosphere and easier to save with Stage Recovery Mod.
At the same time, second stages that travel faster that 2km/s or really-complicated aircraft-like first stages with jet engines is something that might be fun to land with FMRS.