The difficulty would be in finding something for him to do there that integrates with the existing Endor footage - his part in the story is done when he falls into the Sarlacc because that’s the resolution of the “Han in carbonite” narrative. He’d have to do something on Endor to give his reappearance a reason, I think.

Otherwise, (BoBF spoiler)

if you just want to have his hand emerge from the pit, I feel like it would be fine to leave it there, precisely because he doesn’t necessarily need to show up again in ROTJ.