The manned capsules, at least, have a launch abort system that was probably originally intended to evolve into landing-capable engines. They even released renders of it years ago.

https://en.wikipedia.org/wiki/SuperDraco

In fact, they can currently be used for propulsive landing… if the parachutes fail. https://www.nasaspaceflight.com/2024/10/dragon-propulsive-la...