A lot of people think it landed on the large grid fins, this is not true it actually landed on much smaller landing pegs
I actually think there is some old Starbase tour interview where a SpaceX guy implied it was Musk's idea, though I could be misremembering. Catching the booster kind of makes sense, since they needed the tower arms anyway for stacking and unstacking.
I keep finding myself watching the catch every few days, and it does not tire to impress.