Once again not really.
Artoo maybe for opening the doors (though arguably any droid with the right attachments would do), Han and Chewie for their expertise (though they both prove to pretty useless what with the snapped twig and dead animal gags) but Leia??
The group spent some time putting on camouflage outfits and they brought along Threepio???
The whole bunch have spent act one proving how unsuited they are for this sort of mission by only getting out of the Jabba thing by blind luck (sorry the will of the Force). But Threepio???
As I posted earlier it turned out to be a lucky move but they had no way of knowing that.
If Luke had a line saying,"I have foreseen it. we will take down the shield and you will be there and you and you" we could put down these lapses in logic and strokes of luck as the will of the Force. Luke is the new Jedi and the Rebels are in awe of him and his visions of Arrakis as a paradise planet.
The Gospel narrative has this sort of workaround with Jesus knowing he is going to be killed but going to Jerusalem anyway (because it's necessary and he can see the future) even to the point of knowing where there is a donkey to be had at short notice.
As it stands ROTJ arranges many of the characters in dioramas without having any human reason for them being there.
It's like Lucas is a kid playing with action figures rather than the characters being people going through a planned sequence of events with unexpected obstacles and distractions.
It's a classic case of 'a wizard did it'.
Ironically in a story with wizards, the wizard isn't a Jedi or Sith but Lucas playing with toys.