Answer:
The Gemara (Yoma 70a) teaches that while one should not normally read pesukim
from the Torah off by heart, the kohen gadol would do so, so as
not to cause tircha detzibbura, an unnecessary burden on the community
while they would roll the sefer torah (See
Mishna Berura 49:3).
Accordingly,
Rambam (Tefilla 12:23) and the Shulchan Aruch (OC 144:3) write that
one should not roll a sefer Torah during kerias hatorah.
Thus, when we read the maftir from a different sidra, we should
remove another sefer Torah when possible.
R’ Ovadia Yosef (Yabia Omer OC 8:15:4)
quotes many poskim who forbid returning a sefer Torah to the aron
hakodesh once it has been taken out. As people may erroneously think that
this sefer Torah is not kosher, it is deemed to be disrespectful
to the sefer Torah (See Kitzur Shulchan
Aruch 78:10).
The Kaf Hachaim (OC 144:13) and R’ Moshe Feinstein (Igros
Moshe OC 2:37) write that there is a machlokes as to whether one
may return a sefer Torah that is rolled to the wrong place.
On the one hand we are concerned for the kavod of the sefer Torah, while
on the other hand we do not want to cause tircha detzibbura. The Kaf
Hachaim concludes that one must not return the sefer Torah. R’ Moshe,
however, writes that while it is ideal to roll the sefer torah, the
community can choose whether to roll it or to return it to the aron
hakodesh.
In conclusion, if one accidentally
removed a sefer torah that was not rolled to the right place, it is
ideal to proceed and roll it. If doing so will cause a significant delay, they
can choose to return it and remove another instead.
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