Stuck in Small Cave/UD

[palandus]

So, I got to the village place at the end of LV 8 UD, and I'm at LV 20.

How do I get back to the rest of Ancardia from there? As I barely survived the small cave the first time getting to the UD, how does one get back? Is it back through the small cave?

[Blasphemous]

There's a way out to wilderness directly from the mountain village.
All you need is to use search function at the right place
I'll leave the details out so you can explore this on your own.