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I'm not sure I'm following here. Did you claim the map as a settlement? Normally on a mission map when you click reform caravan it's instant and everyone just poofs off the map with everything you selected, there is no packing or walking to the edge. You can't reform while there are enemies on the map though, what you do in that case is draft your people and move them to the map edge to the green border area, then they escape. You should be able to carry downed pawns to the map edge if needed, with a drafted pawn selected you can right click a downed pawn to carry them then move them where you want. Anyway point being in the future just draft and run to the map edge to get out of there, unless you settled the tile in which case you need to do the ol caravan gathering process. Also assuming your modded quest there wasn't doing something wonky.
There's a small chance you can get a ransom event to get a captured colonist back. Check your social tab of your remaining colonists, if any of them had relations to the captured colonists you will be able to "track" what happens to them there, typically within a few days it will tell you they are dead and that's the end of it. If you are lucky you will get that ransom event though.