Answer
This is a confirmed, intentional (if debated) design change starting around the 23R1 release — receiving returned goods now happens through Register Arrivals instead of through the Receive Authorized Returns screen, which was narrowed down to scrap-only handling as part of that change; if you're moving from an older release where that screen supported receiving directly, plan the process change around Register Arrivals rather than expecting the old Receive Authorized Returns behavior to still be there.