Cap went back to Peggy. Had his dance. Create an alternate timeline where he had a life with her. and Cap being Cap, probably even fixed a lot of problems before they even happened. Then probably used AT tech to return to the prime timeline to hand over the shield to Falcon. The Russo brothers explanation matches with how time travel is said to work in the movie. So Russos > writers over this one. It's possible that the writers made a mistake when answering the question or misunderstood their own story or madly conveyed a point. Entirely possible when they are doing press for a movie this big.