The debate, page-231

Biden could have chosen to renegotiate or delay the withdrawal,

The Taliban had already gave their thoughts on that. It appears they organised an attack to ensure the terms were adhered to although Trump didn't care much about them not keeping their part of the deal.

but he decided to honour the agreement, albeit with an extension of the deadline to August 31, 2021

Correct.

He believed continuing the war would not serve U.S. interests and that a prolonged military presence wouldn’t lead to a different outcome.

And antagonised the extra 5,000 strong Taliban. But they aren't anything to consider in the discussion.

Thus, while he could have altered the course of the withdrawal,

Yeah, the Taliban were prepared to bend over backwards to serve American interests. It was a terrible surrender deal they got from Trump.
They were badly restricted in gathering forces and attaining ground while Trump was in office with the reinforcements he sent in to ensure security and help with Afghan forces and police. He did great withdrawing and leaving half as many American troops as he set free enemy combatant prisoners.


facing significant challenges and criticism regarding the execution of the withdrawal process.

Although it was the largest evacuation ever done in human history in a short period of time. it was badly executed in a lot of circumstances.

also Australia left behind translators that fought under the premise that that would come to Australia.

There were many promises made after the surprise of learning Trump had surrendered to the Taliban, freeing 5,000 enemy combatant without consulting the Department of Defence and Aghan Government. I'm not sure if I have mentioned that. And there is the theft of secret docs on top of this that I may have also not mentioned.
It's estimated as many as 300 interpreters died in Afghanistan during this time while waiting for visas. As the Taliban closed in on securing the country as the U.S. withdrew, roughly 20,000 interpreters and their families were still attempting to leave.