I think it is kind of obvious that Doriatessa wasn't afraid of any ambushes, or attacks on the road back, but more likely just wished to spend that much more time traveling with her companions. And I mean, who could blame her? They were only together for a relatively short time, but that time was immensely well spent.
At this point Bard has an adopted Nephew, an adopted son, and a daughter and even a grand kid. They are like a big, wholesome, absolutely fucking deadly holy shit please don't ever try to fight them because they can each flatten you in a dozen ways straight, happy family.