One easy thing I've noticed about the escort quest is since I've only had to escort them from the first level to say the third (most of the time) just make sure you activate the first level gate then return to town with them. (Using the entrance, not the gate) then use the gate and go back and clear out the way to where they need to while they sit safely in the town.
This is also broken because you get double experience for every kill while doing the escort quest so I tend to let them sit in town while I do every other mission and clear out most levels while recieving double experience.
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