Living on mars at 38% earths gravity is believed to make things worse over time, so no you can’t just consider transit times independently. On arrival they would likely be fine inside a habitat. But trying to walk around in an Apollo 11 era 180 lb pressure suit in 38% gravity would be nearly as strenuous as walking around on earth and we’d like them to be able to work not just take a few steps and sit down. It’s possible to reduce that weight, but needing to carry oxygen tanks means there’s quickly a tradeoff between lighter weight and less time outside.
Now, for an extremely brief touch Mars and come back while burning a huge amount of fuel to make a shorter trip sure they’ll survive. But start talking a 3 year mission and things don’t look good.
Back on Mars they'll be able to quickly regain their motor skills coordination, as well as strength/bone density. So it will be effectively equivalent to Earth in this regard - actually it will be even better than Earth because the reduced gravity will probably send the overall adjustment time down from a couple of days to a couple of hours, especially with a normal duration transit.
> stuck on the ISS for going on 9 months now
Stick right next to earth and all the medical care they would want on landing. That’s the difference they don’t need to be functional on earth.
> regain motor skills and coordinate
Meaning they’re nearly helpless for a significant period on landing. That’s a massive safety concern and limitation on mission profile.
> as well as strength/bone density
There’s serious concern around retaining let along regaining bone density on Mars. 38% g isn’t a well studied environment here but it’s a long way from earth and likely to result in significant bone loss up to a point. Meaning their trip back is now significantly more risky.