My understanding, based upon what I have read elsewhere on this board, was that there was some sort of standing order, or recognized 'SOP', in effect at the time which should have precluded Kerry from either 1) running the boat up on shore, and 2) from leaving the boat in the face of hostile fire.
Of course if 'there was no hostile fire', as some here have suggested, then I am not sure those rules would have been in effect. Of course, if there 'was no hostile fire', it is my understanding that no 'purple hearts' or 'Silver Stars' should have been awarded either. Perhaps this is another of those "You cannot have it both ways, John." situations.
Sorry I am so little help (I was seven years in the 'Blue-Water Navy', and we did all our Haiphong Harbor raids after dark), but perhaps others here with more relevant experience can give you the answers you seek. (I am sure there will be no shortage of volunteers, hereabouts!)
Why do you think they stand by him so adamantly and the other OFFICERS who ran the other boats, despise him so much? The knew what he was doing even then.
You guys gotta read "Unfit for Command".