grammaticality - Why is there no comma between this participle phrase and the main clause

I searched around, and they said that all the participle phrases are happening concurrently with the main clause. Hm, I thought they are consecutively happening, according to http://random-idea-english.blogspot.com/2011/07/exploring-grammar-types-of-clause-and.html, but let's not think about it for a while.

So there are some sentences:

Asparagus is at its best simply served with butter.

He came home exhausted from work.

She walked down the road whistling happily to herself.

They went laughing out into the snow.

I thought they should have commas, because these participle phrases can be interpreted as being used adjectivailly (except for the fourth one).

Asparagus is at its best, simply served with butter.

He came home, exhausted from work.

She walked down the road, whistling happily to herself.

They went, laughing out into the snow.

But the random idea English guy was asserting that the ones used with commas are happening consecutively, or serially, so there are some uses of adverbial participle phrases with no comma to describe the concurrent situations, such as walking down the road and whistling.

Well, other editors that I found online were saying that all adverbial participle phrases describe concurrent actions, saying there should always be commas when an adverbial participle phrase is used.

I gave it some thoughts, and I found some other uses of participle phrase with no comma, which seemed to clear up the issue.

I came home exhausted.

In this sentence, we do not need a comma, because if we include one, it sounds redundant. But I found some other sentences.

I came home hungry.

He died young.

He walked around naked.

It turns out that "exhausted" is used as an adjective like hungry and young, not a pure participle phrase, fulfilling the role of describing the subject adjectivially, not participially. https://www.csun.edu/~bashforth/305_PDF/305_PDF_Grammar/ParticiplePhrasesAsReducedARelatives.pdf

Past participles are used like passive sentences, usually implying "being" like this. And the phrase that comes after the past participle is an adverbial phrases.

He came home, (being) exhausted [from work]. (from work is adverbial phrase, describing the passivized verb "exhausted"

However, adjectives are not passivized in a predicative position (they still imply being), and those that are used after the comma are called verbless clauses. And the phrase that comes after the adjective is an adjective complement.

He came home, (being) upset [about the game]. (about the game is adjective complement)
John came home, (being) frightened [of his friends]. (of his friends is adjective complement)

Also, if participle adjectives gets an adjective complement attached to them most of the times, so it's only when they are used without complement that they are do not need commas.

It got rather lengthy, thanks to my suspicious analysis, but my central question is this:

Do I have to put the comma in first four sentences (starting with Asparagus...)? And why don't we have to use comma when a participle adjective and other adjectives are used singularly in this manner: I came home exhausted?

P.S. I know that it should've been a separate question, but they were closely related...