Medicine would be awesome -- except that clerics can do it better with a 3rd level spell. So bring back a limited supply of medicine? Meh.
You assume that you're playing D&D, such that clerics exist. And a game in which clerics are common, at that. If you are playing basic GURPS, those pills are going to be valuable as all get out.
Which brings up the basic point - what to grab really depends on what the GM is going to rule will be useful. It becomes situational: For example, get all the urban planning books you want, they aren't useful unless you bring them back to a kingdom that recognizes the value, and actually has the wealth to implement the ideas. I can build a rationale that electric guitars would be good for bards to have, but I can build an equally good rationale for firearms or modern pharmaceuticals being good to grab.
I suspect that a GM is either going to have a short list of things that are good to take back, and if the players don't guess the right items that's their tough luck, or the GM is going to adapt, so that some of whatever they bring back is going to be useful.