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There was a tip posted a while ago to use the band of stars to help you travel in a straight line.
Driving around in caves is super treacherous because not only can you get lost, you also can fall, get stuck and its way harder to avoid obstacles (beacons are nearly useless underground too). Its a reliable source of oxygen though and the buggy is fast and maneuverable enough to handle it. Tractors are cool too because they're small and can mount a drill head for quick digging. Same rules as above: just dig straight through anything that gets in the way. If you fall down a cliff and survive don't panic, just make a pillar as an elevator back to the opening you fell through and make a ramp down to recover.
For your current problem, I'd suggest building a small outpost where you first realized you were lost, then work your way back using my navigation tricks.
If you use pillars now you'll at least know if you're going in circles.
;-)
I was using a vehicle which required no tethers. Went too far that I cannot see the beacon already.