Madoka would have felt guilt either way if Sayaka died. Of course it is worse if Madoka herself did it, but it wouldn't have changed the fact that she would most likely step up anyway. And that's not something that Homura wants, hence why I still strongly believe that Homura's intent was not to kill Sayaka. Madoka's mother's advice would have been stretched into a farer horizon where Syaka's death ultimately became the "mistake" and her actions would eventually lead to a greater outcome;... probably not.
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