I am curious how others handle errors or problems when shipping product to customers.

The example I have is:
1) Customer orders product ABC
2) Warehouse accidentally ships product DEF

Because the cost of returning the product DEF is more than the cost of the item we just tell the customer to keep it.

Currently we create a new sales order for the correct item at no charge.
We do an inventory adjustment to add back the original ABC item because it really never left and we do another adjustment to remove the accidentally shipped DEF.

Our result is that we do not have a way to tie the zero dollar sales order to the original order and we have 2 manual transactions to "fix things"