i took out a beer bread too early and it is underbaked. can i put it back in the oven to bake a little longer?

As an alternative maybe you could slice it and toast the slices to finish the cooking process. I am hesitant to twice bake anything out of paranoia that it will get dry.

Yes. I've done the same thing ;0 It won't have quite the same rise or texture, but it will be done, you'll have learned something, and life will go on. It might be a good idea to invest in an instant-read thermometer (from less than $10 to =/- $25 depending on whether you go analog or digital). If this is a quick bread, it should read at least 165 at the center when done.

I think you can do it. Kind of like par-baking bread and finishing it later. I would say yes put it back in just make sure the oven is pre heated.