Corrected entry: When the Avengers got the space stone and mind stone from the past, they were in the form of the Tesseract and the scepter, but when Steve goes back to replace them, they are in their raw forms. If they want to undo any offshoot timelines, they would have to replace the time stones in their original encasements, at least some of which have been destroyed in the process of obtaining the raw stones. If the Tesseract doesn't exist in Tesseract form before Captain Marvel, would the light speed ship by Dr Larson have been made, etc. And the events of Avengers 1 would have been altered...Ultron/Vision/Scarlet Witch/Quicksilver timelines would likely be disrupted if the scepter itself is not replaced, only the mind stone. It would be an anomaly in the time line.
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Correction: They aren't concerned with creating any alternate timelines, as they won't affect their own timeline. They only agree to return the Stones to the point where they are taken in order to avoid any major catastrophes being caused by the Stones' absence in their respective timelines (i.e. the Ancient One tells Dr. Banner that she needs the Time Stone returned to her reality, as it is her chief weapon against forces of darkness). The Mind Stone ending up in an alternate timeline as a result of being removed from Loki's scepter and not leading to the creation of Ultron or giving the Maximoff twins their powers will not lead to a catastrophic event.
Phaneron ★
This is not consistent with Captain America's comment "I know, clip all the branches"
Another way around that would be to return the Time Stone to the Ancient One first and then have her use the Time Stone to return the Space and Mind Stones to their previous housings. We know the Time Stone is capable of doing that because Thanos used it to bring the Mind Stone back into existence after Scarlet Witch destroyed it.
Phaneron ★
Their primary concern appears to be removing the stones from where they "should" be, or taking one and leaving others - the ancient one implies it's that imbalance which causes a "bad" timeline to branch off, the black line she demonstrates, not just making other changes. Otherwise even Hawkeye going back in time and removing a baseball glove would have catastrophic consequences and need to be remedied.
Jon Sandys ★
He has the infinity stones. It's quite possible he could have used them in some fashion to return the others to the original form. For example, he could have done it or asked the Ancient One to use the time stone to return them to their original form. Regardless, there is no way he or Hulk wouldn't have planned for this before he left. They were in no rush to return them. They had a time machine.
DetectiveGadget85