The Mars Sample Return wouldn't be carrying such a fragile payload and would probably be a lot less massive than Genesis. I've read that the Genesis RV weighed about 400 pounds. I suspect you could do a MSR RV that's much lighter, perhaps half that.

The MSR RV could be engineered to have a lower terminal velocity (reports indicate that Genesis impacted at roughly 94 MPH), perhaps below 70 MPH. That would reduce the kinetic energy considerably. You could then engineer it to survive an impact even if it struck a rock. If they can engineer bunker buster bombs that can hit the ground at near supersonic speeds in order to penetrate up to 60 feet of solid rock and still detonate, they can make a vehicle that can survive a low speed ground impact.

KISS is still a great engineering maxim. The fewer things there are, the fewer things there are to go wrong.