The perp would need a ride out of there if he was going to leave the car.
Are you referring to the neighbor's surveilience video, which has not been confirmed? If so, I think if it was RM who came home for a minute or two, but I wonder why he didn't retrieve his wallet before going to Arrow? So, I think it was possible he drove up the driveway and then realized that he forgot to go to Arrow, so he backed out and went there. Perhaps he wanted to get it done and over with. I've done similar actions before-- forgetting to do an errand after a long day of work and a long drive. This is how I think it went with the limited information. I could be wrong.
I wish I knew how long the car was at the house. Could it have been there long enough to pack a small bag?? Was a bag or suitcase missing? Only IM would know, but the problem with a house full of stuff, people have a hard time figuring out what is missing.
I doubt it was a random perp who went to the house. Although, if the vehicle's registration with address info was in the glove box, the perp could target the home at some point, especially since they probably had the house keys on the car key chain.
Just some thoughts . . Sorry for the disorganization . . .