"The spacecraft is a 1.46 kg (3.2 lb) aluminum sphere six inches (150 mm) in diameter, with antennas spanning three feet (0.91 m)"
A mission like the private EVA SpaceX missions could probably just go up and grab it. Maybe need to detach/break/bend 4 of the antennas to fit it through the hatch.
Starship would seem the natural choice to bring Vanguard home, but I wonder what else could be used. Stoke Space's Nova vehicle comes to mind as a good option.
A mission like the private EVA SpaceX missions could probably just go up and grab it. Maybe need to detach/break/bend 4 of the antennas to fit it through the hatch.