A lifting-body has the glide ratio of a crowbar. It's damned difficult to design a vehicle that's good at hypersonic reentry speeds all the way to a low subsonic landing. When NASA and the Air Force were testing lifting body aircraft like the X-24 and HL-10, they routinely had to land at about 200 MPH. That means you need a big runway or dry lakebed to stop.

By contrast, a parafoil can be put down just about anywhere. The military has tested GPS guided parafoils for precision airdrops of heavy equipment and proved they can put the payload down repeatedly in areas not much bigger than a tennis court. A parafoil on the CRV means your choices of landing sites increases by about a million times over your options with a lifting body.