Abandoning?

[MIZFKU]

I was reading the thread on the BR returning to home after a fair ball. And you guys brought up abandonment and that if he didn't touch first, once he returned to home he could be called out. Here is my situation from the other night:

R2 steals 3rd on the pitch. The pitch is a foul tip in which i make the proper mechanic, no vocalization, signal a tip and the strike. the runner reached 3rd but in hearing the ball and the bat he returned to 2nd. His 3rd base coach didn't notice and neither did the defense. I watched him trot back to 2nd unnoticed. He then stole again on the next pitch and reached 3rd again. Did i have an out when he returned to 2nd after his first steal?