Talk about the return first
Before a gathering, discuss transport, an approximate length of stay and how to get home. Allow room to change your mind. Letting people know you may leave early can reduce the need for lengthy explanations in the moment.
Prepare a simple sentence
Choose words that sound natural, such as: That is enough for us today; we are heading home. Agree who gathers belongings and who handles transport. Each gathering may be different, so adapt the next plan to what you learn.
Your next little step
Choose one idea that suits your family and try it at your own pace. Every family has different needs.