If you count TAS:
a) Mudd did get off the planet in relatively short order (although honestly I forget how)
b) Jones did indeed figure out a quicker way... he stole a glommer from the Klingons!
From TAS: Mudd's Passion
(Chapel tends to where Harry got hit by a rock)
CHAPEL: A minor bruise, Captain. He'll live.
KIRK: I thought
we left you on the robot planet, Harry. Permanently.
MUDD: Never underestimate the spirit of Harcourt Fenton Mudd. I borrowed a vehicle.
SPOCK: Stole a spaceship.
MUDD: And left to find haven on Ilyra Six. A charming planet, an innocent and friendly populace.
KIRK: To whom you sold the Starfleet Space Academy. Harry.
SPOCK: A fraud. But sold for enough credits to get to Sirius Nine.
MUDD: Where I discovered a boon to humanoid life, a miracle love potion.
KIRK: Which you sold to a thousand inhabitants, who immediately became ill from using it.
MUDD: I hadn't counted on their unusual biochemistry. So, I did the logical thing. I left in haste.
KIRK: And came here to swindle honest miners.
MUDD: The love potion works, Captain. If you'll allow me to procure some from my ship
(but they leave and activate the forcefield)
Now, I don't know what spaceship would visit that planet with the androids. Of course, they had to have some spaceships since Norman left the planet and got on board the
Enterprise.