There is a U tube film "Inauguration of an U-boat commander" (www.youtube.com/watch?v=y535pNcHpVA) currently on u-tube that shows Von Stockhausen returning in late January 1941 to his home town to be honored. You see him great the party leader in town along with his mother, wife, twin daughters and year old son. Also his brother is shown saluting him on his arrival by train.

Was is customary for the entire crew to go with the Kapitan to his home town?

This crew had only three months to live, Von Stockhausen was lucky to be removed to shore. Apparently the person who posted this film did not know who the Kapitan was.