You're correct regarding the video diary.
It would remain on Mars until if and when another mission retrieved them. Possibly Ares VI which Vincent Kapoor mentioned trying to sell the government on as it still had most of the mission infrastructure still in place and thus could be done cheaper.
You're wrong about Hermes however. As well as Watney's injury. He "thought he cracked some ribs" during the 12g launch.
No one mentions anything about breaking legs.
The VAL's outer door was open and the inner door was breached with the charge. This allows them to close the still intact outer door, then repressurize the ship.
The inner bulkhead doors between compartments are not airlocks with inner and outer doors. If as you claim, they dont have enough gas to repressurize the etire ship then they're still all dead because there is no way for them to leave the two comparments they're stuck in nor can Lewis, Watney, and Beck in EVA suits get out of their suits and into those two compartments. The moment they tried, they would depressurize the command center and reactor room as well.
Clearly since we see everyone helping greet Watney once inside... they had to have repressurized the ship.
I joined the Navy to see the world, only to discover the world is 2/3 water!
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