Earth 2053 doesn't exist anymore.
None of these people are from Earth 2053, and would qualm at being returned there.
Thousands of them thrive on new Eden 2257, but would drown on Earth 2257, as New Eden died if half of them went home to Earth.
Although...
Earth still has Luddite zones, where they can live a similar life to what they had on New Eden, or they could build a new colony much closer to earth than this, which begs the question why return to earth space if they are not going to take advantage of the amenities?
Thing is - New Eden is neither a natural, nor a stable society.
By all accounts, this current society is doomed to die out anyway - currently they live in a post-nuclear age society, still leeching off from the stuff brought back from Earth. Their current religious rule only works as a transitional rule - if the population grows, they'll have to form completely new, different ways of organizing themselves. They lack modern factories, fabric, materials they all have currently in use - I didn't saw any coal or iron mines, nor domesticated animals. They'd pretty soon degrade to a stone-age era society witout artificial help. And if they continue to live off from their 21st century knowledge - that doesn't count as an "own" society either. All of that completely ignoring things like genetic diversity.
Like the Ba'Ku - the Prime Directive doesn't apply in this case. But that doesn't mean you can just haul them off the planet carelessly either.
Personally, I would advocate for carefully re-establishing contact wit humanity - and then re-settle them to a human colony planet, where they could individually decide to leave "New" New Eden, or stay in their society, but now contact to the rest of Earth.
That being said - this is probably something that needs to be done in a few hundred years in the future, considering how far they are away (and only the Discovery with the spore drive can reach them) - and if, by that time, they truly have forgotten Earth and reverted to a middle-age society, the situation would be completely different again.