refers to the ground operator being able to see with the naked eye which direction the drone is pointing in
and
observing other aircraft/obstacles near or approaching that may cause an incident.
I think another piece of information missing is whether or not the camera flipped down for the landing; I believe the camera, in addition to the VPS, is used for precision landing.
You know, this group has a lot of knowledge and experience at all levels. In the later part of this discussion, there were members that had adult discussions on positives/negatives of RTH use. And they discussed possible reasons for the OP's...