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Yeah, that was my understanding. When you talk to Vigil near the end of ME1, it explains that the Reapers retreat to dark space through the citadel relay. It's not explicitly stated, but the logical conclusion is that they would have a relay somewhere out there that they use to return/retreat. Presumably it only works with their Reaper IFF system, like the Omega relay.
With no heat signatures to look for and no hints as to which direction to even go in, they wouldn't have to be that far out from the galaxy to be safe. It takes them approximately 3 years to reach the edge of the galaxy, but it's not clear whether they were travelling at FTL or sublight. Either way, they wouldn't be too far out and wouldn't need to be.
It would be incredibly hard to spot a bunch of dormant Reapers in the inter-galactic void. Presumably whatever mass effect relay they use to travel back and forth could go dormant along with the Reapers, until they get the signal from the citadel. If anything, that could explain why they have to travel to the galaxy on their own, instead of just jumping to a different relay. But none of this is ever said in the game, so all we can do is speculate.
I did make a sort of goof in my main post but I didn't exactly do the math. Looking it up, the reapers obviously use FTL as well but it's much more efficient/advanced. I'm seeing on the wiki that reapers "are believed to be capable of travelling nearly 30 light-years in 24 hours" which is uh... very fast? I can't find, from a quick google search, what the conversion would be to km/miles but the 30-light years in 24 hours seems to be 283,821,914,177,424,000 meters (source: wiki).
I imagine that, because they travelled without the use of the relays, they must have travelled a *very* long distance because I recall(I believe it's in 2 or 3) a specific discussion that states they were travelling towards the milky way galaxy *since the end of ME1, when their relay plans were foiled*.
You could estimate it at around 30k light years, for the sake of argument. That's actually a pretty small distance, on a cosmic scale. Wouldn't even get you halfway across the galaxy. Still far enough away that they would be invisible. If you consider the lore, we had a mass relay in our solar system for all of human history and no one found it until humanity discovered the Prothean archives on Mars. If we couldn't see one in our own solar system, there's no chance of spotting one in the intergalactic void.