I think that the CG is at fault here. The guys in the boat did not call for help, yes they were inadequately prepared for the conditions etc but they were feeling ok and in control. Many others I have seen were in worse condition in charge of a boat
It was the CG who, after getting the RNLI to check on the guys, tasked one boat to stay with them. Should have told both boats to go home and have their tea!
If necessary then they could be re-tasked if the guys got into diffs later. It was the guy's choice not to take the advice and if something happened before the RNLI got back to them well that is their fault.
I don't think it was fair or necessary to keep the RNLI boat on station - of course I do mention I am not in FULL knowledge of all facts.