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Other than that, I think you have to run back to entrance, been a long time since was in there though, might be another way now?
If you head back to where you entered the instance you'll see a purple colored exit portal up a hill to the left. IIRC, there's a couple mobs standing up there that sometimes go unnoticed during the run. Anyway, go to it and click on it.
As for leaving from right where you killed the boss, you can either use your return skill, Homeward Bound (if you want to go to your house) or type /escape in chat if the others are on cooldown.
When you leave the group you'll be automatically taken out of the instance but it does take a few minutes before it happens.