It's hard to know who was right. All of these things can be true: it made it back ok; it had a high chance of making it back ok; it should've had a much higher chance of making it back ok. Most of the concerned people were stressing this last point, that it should've been safer than it was. They still thought it had a quite high chance of making it back ok. It took a lot of shuttle missions before Columbia failed.

While I agree with your main point (it's hard to know who was right), the people who agreed to proceed were NASA engineers/astronauts who had actual numbers to analyze, while the doubters (even Camarda) only had theories.