Okay cool, I thought I remembered seeing it. I couldn't just walk back out at any section, I used an escape rope to get out.
I also found another bug in the same cave- when I went down the ladder to the 2nd level (with the kings rock guy) I was positioned on the opposite side of the ladder from the stairs. When I used the ladder I was stuck in air and had to use another escape rope.
Positioning:
Outcome:
(P.S. It's an awesome show, Nathan Fillion is great in it

And I'm a massive fan of the linchpin story- the one I'm rewatching)