How do the characters get back to camp?

I’m not too far into the game, (just made it through Flying Waters), but I was wondering if there’s a lore explanation for how the crew suddenly gets teleported back to camp? After defeating the boss at the end of flying waters the cutscene just ends and they kind of just… appear back at camp. I thought we were trying to make it to the village, so why would we travel all the way back to camp just to sleep? If this gets explained later then please let me know,

but PLEASE DON’T SPOIL ANYTHING!

Apologies for the odd and perhaps pointless question, but it’s been bugging me XD