Arthur quickly made his way out of the cave before sneaking out to the place where he had hidden his armor. But he didn't take it out right away.
Instead, he was alert and checked whether anyone noticed him or followed him. Only after he was 100% sure of it did he change back into the Ember Bellow Set.
"Now to just safely escape…" With that said Arthur went to the very edge of the camp and continued towards the spot that he had entered from.
This way there were fewer chances of people discovering him. After all, while the Bandits were patrolling the camp regularly, there were still plenty of gaps left that Arthur could exploit using his newly gained Stealth skill.
It took him about thirty minutes to reach the hole that he had entered from before he safely left it.
"Phew~ Now to find the Orcs." Arthur took a breath of relief.