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yes this is the easiest way to do it! can be done in conjunction with the Droo orbit tutorial! (and the craft it provides)
ADD: if you want to go the sounding rocket route it's very possible, just requires getting access to the ability to make much bigger goblin engines (like 200-250% sized) so you can make a bigger sounding rocket that goes a couple hundred kilometres high and subsequently lands over 500 km away!
This craft I made for deploying single cubesats is a bit more forgiving (much more energy in it's third stage) feel free to use that if you would like!
https://www.simplerockets.com/c/Vyn26s/Droo-Orbit-CubeSat-Deployer-for-Career
Did you also place an engine above the stage separator to go with the second fuel tank?
But you're entirely right, the tutorials are absolutely woeful in the game.
At a 40-45° launch angle from Juno village you’re looking for enough fuel to land somewhere in the giant lake to the north. That will get 500 kilometers and minimal heating when coming back through the atmosphere.