For issues with 1 character getting stuck in null space outside of actual level walls:
several ways to correct this.
1) give teleporter pyramid(s) to the character that is still on solid ground, if you have it(them). if the destination pyramid isn't on the ground somewhere, then make sure it is dropped somewhere in an open area. Then with the other teleporter either in the character's inventory or on the ground nearby (this is the character still on solid ground, not in the null space) activate that teleporter and both will appear on solid ground near the destination teleporter.
2) if you are in the battlefields, select the character that is on solid ground as the leader, and and then leave the battlefields using that characters 2nd skill. this will take both to their original location. this assumes you have found at least 1 battlefield key. returning to the battlefields is simple and you arrive back in the camp.
3) if you are not in the battlefields, select the character that is on solid ground as the leader, (this is very important, otherwise at the end they'll both be in the null void space) then using that character's 2nd skill, go to the battlefields. both will arrive in the merchant encampment. now with the same character still selected as leader, leave the battlefields. you will appear in the spot the lead character was in (hence it is important that the lead character be set to the one that was on the stable ground and not the one trapped in the void null space). this assumes that you have found at least 1 battlefield key.