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Anyway, yeah, assuming you used the scout to time the entrance, just recall the scout and you'll be good.
And that's why it happens, people set up the scout to know when to go through and then don't think to recall it so it stays on the pad.
And like you said, the game checks to see that the pad is clear before turning it on to warp back mode so you don't accidentally get warped right back where you came from (which could be really bad in a few places).