As I am one of the crazy guys who don't use the magic carpet ride to get back home, I confirm the escort is the one that takes you out in NYGM or GW/GWX and goes around in loop. So when nearing the point where it left you on the way out, just need to wait and it will come again. Then follow it to harbour, then drive your boat to any docking place of your choice (I like the one with the band and girls throwing roses at us). When stopped there (needs a little reverse, there are no brakes..
) just hit Esc and dock at base.