Only the Crew Dragon and the Soyuz are designed for human spaceflight and capable of returning to Earth. The Cargo Dragon can also land, the rest are all expendable.
It floats. It’s designed for bringing cargo down as well as up, so it doesn’t experience dangerous levels of deceleration. Theoretically, it could bring back people, although they may need an oxygen tank and a way of strapping themselves down.
It probably wouldn’t be a pleasant landing, but it’s unlikely to injure them significantly.
I haven’t done the maths, but my gut (and maths degree, but mostly kerbal space program experience), says that even without an adequate heat shield, a significant plane change manoeuvre in LEO would take comparable delta V to slowing to the point where the spacecraft fuselage is sufficient shielding that the astronauts onboard won’t die on re-entry from the heat.
That being said, G-forces of such a steep descent would probably kill them instead.