Give me a moment... Ah here we go.
Closest thing I can give ya is the [ame="http://orbithangar.com/searchid.php?ID=439"]TetherMFD[/ame], which allows you to attach vessels with other vessels via elastic cables. In theory, you can fly over a vessel with good, strong hovers (well, maybe not necessarily, it is the Moon) and tether the rescue vessel to the downed XR2, and bring it back to Brighton, like a space version of the Skycrane helicopter, I've done it a few times.
Personal recommendations for LunaCrane vehicles are:
[ame="http://orbithangar.com/searchid.php?ID=5174"]Izack's reboot of Andy44's Lunar Space Shuttle[/ame]
[ame="http://orbithangar.com/searchid.php?ID=3608"]Greg Burch's Heavy Utility Lander[/ame] and it's smaller cousin, [ame="http://orbithangar.com/searchid.php?ID=3532"]Greg Burch's Medium Utility Lander[/ame]
EDIT: AAHHHHHH, I also see your problem.
Once you crash an XR-family ship, even if the crew survives, once you get the red text, the ship locks out all user controls, IMO like if the crew is incapacitated, or systems are damaged. You won't be able to EVA the crew like on a DG. You'll either have to restart the scenario, or run a rescue as I mentioned above.