Good work! I still think that they should have some grippers on the barge, or a net, ready to spring and grasp the rocket on landing, instead of carrying flimsy legs all the way to space and back.
The current legs aren't flimsy, and they seem way less complicated than a gripper system would have to be. How would a gripper system handle off-centered landings? It would have to catch the falling rocket very quickly because there's not much fuel left in the tank to hover. Your proposed system would add a lot of complexity, all for the small decrease in launch mass.
I'm thinking a system with a pillar at each corner of the barge, pairs of cables between opposite pillars, and puller cables to open out the main cables into an iris-type aperture which can be rapidly closed on the rocket after it lands to keep it upright. Do that at 2-3 heights above the barge and it'll cradle the rocket even in heavy seas.