Again and back: the two meanings of re-
Re- has two closely related jobs. With action verbs it means doing something again: redo, rewrite, reopen, rebuild. It also signals returning to a state or place: return, recover, restore. The core idea is always a second time or a movement backward.
When re- is not a real prefix
Some words that look like re- + root are actually single Latin words where re- cannot be removed: receive, relate, remain, respond, result. A quick test: drop re- and check whether the remaining letters form an independent English word. If they do not ("ceive," "late" in the Latin sense), re- is part of the root, not an active prefix.