That was crazy, 50% of me thought as it was coming in, especially as it pitched towards the tower, "they've overcompensated and are going to bring the whole tower down" but they absolutely nailed it.
Even without the catch step, I always feel like their boosters are coming down way too fast way too late, with engines reigniting startlingly close to surface. Never ceases to surprise me.
Even just one engine in minimum thrust would make the rocket go up when empty.. so the computer lights the engine at the precise right moment so it will have 0 velocity at 0 altitude, then it cuts off the engine. "Hoverslam".
The Starship booster is different, it can actually hover.