It was proposed as nuclear warhead delivery method though: https://en.wikipedia.org/wiki/Fractional_Orbital_Bombardment...
You can also reduce peek deceleration forces by using aerodynamic lift to stretch out the reentry over a longer period.
But yeah, if it is going down almost vertically then this will not be enough.
Unless one has seriously variable aerodynamics, the vehicle will have to swerve to nearly horizontal over a distance of about 1 scale height of the atmosphere, which is about 10 km. The exponentially thinning atmosphere goes from "too thin to matter" to "brick wall" over a short distance.
The acceleration for turning is v^2/r; for v = 5000 m/s and r = 10 km this is 250 g.
Acceleration also limits how rapidly one can reenter from beyond Earth orbit. At > LEO velocity, the vehicle has to use (downward) lift to stay in the atmosphere, and if v is too high the required acceleration is too high.