You can walk right out of a gate at any time. Picking up the companions takes a minute at most.
Yes, I'm aware that's an option, but in my opinion it's a poor solution. You're in the town to investigate a murder, and for many players that won't include randomly galavanting across the countryside in search of adventure. At least not until the investigation has pushed them beyond the city gates.
Also, much of the fighting that takes place outside the city is tied to quests picked up within the town itself.
In the end, the game encourages people to spend some time within the town before moving back outside of it. And since Divnity advertises itself as an
"RPG with tactical turn based combat" it wouldn't hurt to show both sides of that coin during the lengthy time spent in Cyseal.. especially that early in the game when making the right impression is important, both to the people playing
and the people watching "let's play" videos because they're trying to decide whether or not to purchase the game. In the case of the latter, I don't think a short crab battle, a three-orc beach battle, and then an hour+ of courier activity in a town with loads of dialogue is going to hook as many people as it could if the pacing were handled a little better.
Do you have a specific reason why you
don't want to see a mandatory battle (or two) taking place inside Cyseal, provided it's written in in a way that makes sense?