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You don't need launch windows on moon. Keep a spacecraft ready that has supplies for a few days for the crew. It can go to moon orbit at any time, go from there to a transfer orbit, enter the atmosphere of Earth within three days and land. One day more in moon orbit allows to choose from a large range of landing spots if necessary. The ISS has a similar system with the Soyuz that stay attached to it.Jon Richfield said:Never mind other-planet rescue; think of just our backyard moon colony or whatever it might be. "Hey Mabel! Seems those guys in Tranquillitatis construction site got themselves into a mess. When is the next launch window? Thursday? Got a craft ready? Oh well, when then? No, not that one, it can't accommodate all of them. Hey you guys up there, how long can you hold out? Two days? Oh well never mind then..."
Transporting astronauts to the escape vehicle can be tricky, but that is independent of the object you are considering. The time to get home is significantly shorter from moon.