The fact that fuel was a concern doesn't mean they had magic fuel which enabled them to instantly and easily leave a planet with more gravity than Earth in a small ship with the size, speed and agility of a Star Trek shuttlecraft. The fuel needed to leave Earth required massive rockets and fuel tanks and stuff. It takes a LOT of fuel to get into orbit.
Unless they had new, magic fuel they didn't tell us about.
I thought your concern was that if they had the ability to land on a planet's surface and leave it's gravitational pull with the Ranger, why would they need the large rocket?