Could Hiryū have escaped Midway?

Could Hiryū have escaped or withdrawn from the Battle of Midway?

Yes, if her commander withdrew rather than launching the strike on Yorktown; the counterattack and escape were incompatible choices.

Hiryū could have withdrawn if her commander had chosen escape instead of another attack. That choice would have cancelled the strike against Yorktown. Preserving the Japanese carrier therefore meant giving up an opportunity to damage the American carrier force.