Hi,
I had a contract to secure a town building. After defeating the brigands i moved back from town with the worker caravan. I was attacked by a witch and an unhold, didn’t want to fight and fled. Afterwards my troops were invisible on the world map. I’ve attached two screenshots … one showing the witch on world map but not me and one showing I can’t camp since the game thinks I’m still traveling with the caravan (see upper right corner, text in red). completing others contracts didn’t solve the problem. Nor did traveling by ship. I had to complete an escort mission to be able to see me and to be allowed to camp.