Well, here's the latest on this feature. A lot of these ideas were suggestions from the community.
- One of the elevators takes you back.
- Possibly a boat takes you back.
- Possibly a car takes you back.
In case everything else doesn't work:
- The pause menu will have a return to plaza button.
- An item that you can place down, like a door specifically for returning to the plaza.
No real ETA on this, though, sorry.