From what I can imagine, using an autorotative maneuver as a re-entry control method would be a good idea because I believe very high lifts would be generated when relative air speed is high (first re-entry phases).
This would in-turn reduce the rate of descent, reducing g-forces, heat exchange and would make the whole experience more enjoyable, at the cost of making it substantially longer.
It would also bring many advantages relative to vehicle control, landing, reusability, and overall weight reduction.
Has anything like this ever been tested ? Does it sound like a good idea, and if not, why ? details of the physics are welcome.