Yes, you are correct. He returned because of the deterioration of the situation and the it was the only human thing to do.
But soldiers throughout history have always been faced with similar situations and almost never disobey direct orders. I think there was something to Lt. Waters' character that made him feel compelled to do what he did.
But we were never really given insight to what would make him be different from almost every other soldier in history.
A little more character development would have really helped the story.
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