You got the sentence structures, just didn't understand that Japanese dropped all the pronouns so they're all wrong
(I) wasn't born yet so (I) only heard of
him (them)
(Missing line) -> If (I) recall correctly, (I) heard that as soon as (they) arrived, (they) stayed quiet and left
Did you (they)
go went home silently?
I (we) didn't put any restrictions on
my (their) behavior
However, that forest is dangerous for someone to pass through alone, so (we) tried to escort (them). But in the end, (they) escaped.
So that's what happened.
(I) see what happened.