i think they intended this to be extremely difficult (and it is, if you aren't used to how waypoints work or don't have teleporting pyramids handy), but it's actually very easy to do if one of your characters that can move freely (isn't in the room with the dwarf, or in the egg chamber with tons of enemies) can defend themselves from a few voidwoken and can make it to the waypoint. like someone earlier said, they didn't disable waypoints, so as soon as one of your characters discovers the waypoint you can just teleport everyone to that waypoint individually, foregoing most of the exploring in the cave
or maybe i'm wrong and that's how they intended it to go
