Thats exactly what I'm saying....the writing is so bad in ROTJ that I don't think your suggestion covers it.....I think it needs to be dealt with on a more direct level....the actual events IN Jabba's palace.....not events before it.
These ARE B movies...and they're cheesy and the acting is ham fisted at times, but ROTJ goes well beyond that...in that it flat out doesn't make any sense.
The sequence you describe from ANH....on a character level they definitely COULD have looked back at it and said "wow, we kinda screwed that up"...but from a writing standpoint it makes sense.....characters rushing in based on emotional reactions and whatnot.
The ESB situation again makes sense from a writing standpoint....showing the cockiness of a character who was not ready to face such challenges (which should have also led into the begining of ROTJ....but they failed there as well) who then needs to be rescued by the very people he was supposed to save.
ROTJ makes no bloody sense at all....because people keep coming in, giving away more of their friends as hostages or prisoners....in an attempt to get one hostage back......from a writing standpoint it makes no sense because the characters should be smarter than that, more logical than that.
Now, if Lando and Chewie had gone in, guns blazing, got caught....then Leia goes in, with another plan, hoping to rescue all 3, and gets caught herself......then Luke comes in to save them all(minus the hiding of his lightsaber...like he knew he was going to fail)......THAT makes sense. The way it is now is just so badly written that there is no way to reconcile any one characters actions with any one else's.
Lando infiltrates...but then forgets why he's there.
Luke gives away the droids, to accomplish nothing (message delivered, thats all)
Leia gives up Chewie to infiltrate and get Han back (how does that make sense?)
Luke uses almost none of his Jedi abilities to help himself...and is only able to master the situation when he gets his lightsaber back.
ALL of these circumstances go against the way the characters have been written. Lando was cocky, and would have done something (especially since he is motivated to make himself look better after basically handing Han over to vader in the first place), Luke (having come into his jedi abilities) would have had a plan for giving up the droids and his lightsaber (he clearly has NO plan and just fumbles along until "oh hey, lightsaber...now lets kill everything!"), Leia (being loyal to her friends) would not have given up one friend for another, or if her and Chewie had a plan then at the very least Chewie should have accomplished something on the inside....he does not......
All of these problems....all of them need to be fixed at their source, which is in the Jabba's palace scene.
Additionally....if R2 showed up with Luke in his X-Wing, and Leia showed up with 3P0 in a Y-Wing (proof of this in the deleted sandstorm scene) then it stands to reason that they all met up, as Luke was shown building his lightsaber while with the 2 droids. So why oh why...with all his impressive ability to see into the future using the force did Luke wait for literally everybody to get captured, and everything to be as bad off as it could possibly get before venturing out himself to go to Jabba's palace? (This argument relies more on the intention of the written script than in the final editing of the film.....some of the scenes didn't make it for various reasons, but they WERE written and were intended to be a part of the story...and as far as I can tell they just make things more convoluted.)