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You can always build a shelter at the entrance/exit of caves, that way you'll know which ones you explored, and will see their locations from far away from the icon. This will also allow you to save just before entering the cave, that way if you die you will only have wasted a few minutes. Just make sure you properly explore every nook and cranny in the caves. They have good items in them too, weapons and a bunch of medicine/food lying around if you look properly.
Anyways I'd say that's your best bet and the next step that you need to take in order to progress in your game. Get prepared, make weapons, armor etc. before going in and you should be good.
Edit: if you still can't see anything after trying out the different in-game lighting presets, then check your video cards brightness settings because you should be able to see properly with at least a couple of the in-game presets, even without a light source, at least to some extent (i.e., seeing the outlines of the walls and such).
If you have been sticking to your boat and largely avoiding patrols I'm not sure if you have found the main village yet, but it can be a good place to start (and if you are in single player you will end up in the cave just under it the first time you "die"). That cave underneath it contains the map and compass (and other goodies further in) which can help you figure out what you have and haven't explored yet. Plus the village itself has a good amount of resources to collect as well.
The fear is a common roadblock for newer players. Multiplayer can help with that, especially if you already have a couple of friends who play that you can co-op with instead of dealing with public servers full of strangers. Whether you are in single or multiplayer though, dying isn't as scary as it seems at first. In multiplayer, other players can revive you if they reach you before the timer runs out. If they can't reach you then you just respawn at the plane and have to go back to grab your backpack again. In single player you get a "second chance" so to speak. The first time you die the cannibals just drag you to that previously mentioned cave and you can keep playing. If you die again in the same session then it's a game over and you reload from your last save, but you can bypass that by saving, leaving, and restarting the session which will make it so your next death just has them dragging you to the cave again instead of a game over.
I imagine it's a mechanic that's meant more for survival mode to at least have one chance every couple days perhaps as a way to make up for the sometimes janky mechanics or random bugs that can lead to deaths. Maybe it's even there to help players progress when they are having a hard time figuring out what to do next. ¯\_(ツ)_/¯
Placing a small base next to each cave entrance is a good idea. I place stick markers. Last I looked you could only place one stick marker of each color once. But you can have multiple white stick markers. So I place a white stick marker next to all the cave entrances.
They may of changed the color limitation on the flag markers - but placing one certain color for all the cave entrances does help.
Doesn't sound like you have to. Increasingly dangerous surface patrols is just how the game works so sooner or later you'll have to figure out how to get past these surface dangers anyway.
There really shouldn't be any real "brick wall" to run into though. Surface patrols get more dangerous, but they alone shouldn't be enough to stop you from exploring the caves. If you want some added safety (though this is kind of a cheese tactic) building bases in the caves you clear is about as safe as you can get (caves have a set difficulty and fixed population you can eliminate entirely). You still have to surface some of the time, but cave bases are virtually untouchable otherwise.
So yeah, you should be able to just progress from where you are.
Set a fire going in front of you and stand in a crevice, you can see more, they set themselves on fire trying to get you, you can polish them off as they try.
The enemies in the caves don't get harder the more days you go.