Maybe should the FIA have another look at the penalty course? An extra piece of track, a penalised driver has to drive through which gives him a 2-3s loss of time.
This way we prevent stupid negotiations about giving a position back and no more tricks to reclaim a given position right after.
More important: the penalised driver is given honest chance to try another overtake of his opponent. Instead of the opponent just following the penalised driver within the penalty time and claim his position after the finish.
It is kinda stupid, when driver crossing the line first is not winning because of a stupid time penalty.