If salvation was REQUIRED to be saved, then why was Jesus baptized? He had no need of salvation, as He was bringing it to all of us.
Why is the example of the thief on the cross "irrelevant"?
Jesus was baptized as an example for us to follow. We are baptized in the death, burial and resurrection of our Lord, raised to walk in newness of life.
There is a huge difference between his baptism and ours and as you know the thief on the cross died under the old law. How could he be baptized into Christ when Christ had not even yet died. That is why the thief on the cross is irrelevant.