The Scorpion SRV has two seats & works with physical multi-crew, Teamed Cmdrs can even swap seats (ie the owner doesn't have to be the driver), works well for salad hunting. The Scarab SRV only has one seat but can be used by any team member interchangeably.
Telepresence multi-crew doesn't offer any options for the crew to use SRVs at all but since Odyssey at least the ship owner can leave the ship on foot or in an SRV, as long as the ship doesn't depart the team will remain intact.
So you are right that telepresence crew can't use an SRV & there are occasions where it might be handy but imo the features of physical multi-crew offer that benefit so for those rare occasions physical multi-crew is at least an option if they can get to the same location.