It would be a lot of work, that's certain.
Basing this purely on my Kerbal intuition, SpaceX might try something along the lines of: 1- use a falcon heavy to get a tug (Merlin Vacuum rocket, plus big fuel tank plus docking port) into low earth orbit. Very soon afterwards, launch the Dragon to a rendezvous orbit with the tug. Meet, join, head out.
Dragon can land itself with Draco thrusters it already has and likely take off as well- if it has enough fuel. The Dragon might need to be modified for extra fuel.
Then of course it either needs a thicker heat shield or else more fuel to slow down before they hit atmosphere, whichever is lighter/cheaper to develop.
Could be done, but the R&D money for that could instead be put into Starship. Same story as the recovery of falcon second stage.