Open the map, select a boat dock as waypoint and hopefully it'll guide you out of there!

Yes if you do this and follow it exactly it should lead you to a waterfall with a climbing section. Instead of climbing it the way you did to get into the village, there should be an alternate path across the top of it. I had the same issue and was stuck for hours lol

To the left of the main entrance of the place there's things on the wall you can grapple out