Essentially, no - it would still be against the rules. You can certainly drive back to pick-up a teammate, but if you end up chasing an enemy in the process... you would have just broken a rule. Even though you had all the right intentions to pick up someone, you would have also gone out of your way to get a kill.
You can always take the option of getting near your teammate to try to let them jump in quickly, but that does open up chances for you to get naded.
Sometimes it is just best to let them duke it out and if you see your teammate still alive then you can go back and pick them up