I think that if you escape from a dungeon in a certain town and you die or escape, you should be warped back to that town. This should work similar to how if you beat a dungeon, you get warped back to said town. For example, if I escaped from Tanren Mines because I forgot something, I should be warped back to Tanren, not Grassroot.
You already have a way of doing this, set a save point in your house and enter your house from what town you want to spawn in.
That’s part of why I made this suggestion. You have to go through that just to respawn from where you entered. Why can’t it just be an option or something?