I wouldn't say that there's any "defensive penalty" following a defensive rebound however on a stolen ball there is since there is a simulated "fast break" scenario. Following an offensive rebound however there is a 3 second window for the offensive rebounder to put the ball back in.
To your point of how an outside or inside oriented defense impacts things, I would say the idea you have, if I'm understanding it correctly, is already implemented in some way.
Running an inside defense raises your ID rating which will assist in defending situations where you give up offensive boards. Running an outside defense slightly decreases your ID rating which will likely lead to more of these putback situations if you give up an offensive rebound.
I haven't noticed a correlation between a stolen ball causing a different scenario against either and outside or inside defense. Usually 1 of 3 options occur after the ball is stolen: fast shot, defending team steals the ball again, normal play resumes.
Either way I don't think we need to nerf the single ineffective inside defense and buff the outside defenses... if anything, better defensive rebounding and less putbacks is one of the very few perks of an inside defense.
I have noticed that usually when a guard steals the ball, its one of the first two scenarios and when a big steals the ball, usually play is slowed down. However, much of this data is anecdotal from 20+ seasons of play.
2x NBBA Champion: S55, S56. 3x USA Cup Champion: S54, S55, S56. WR for longest home streak ever at 11 in Season 47.