Is there a way out of this place? I don't want to have to resort to fast traveling, but haven't found another way. Don't mind the search if there is a way to be found, but don't want to waste my time if there isn't.

Go back through Darkfall Cave. Open your map to find the exit.

I couldn't get to Darkfall cave. I got to the place in Darkfall passage where my map indicated there was supposed to be an exit to Darkfall cave, but there was no such exit. I also found a 'secret door' in the Passage, but it was closed with no visible means to open it (implying it opened from the other side). I'll look again, but I swear I've been over every corner of that passage.

Its not easy to find i struggled several times with this and eventually thought stuff it and resorted to fast travel ever after, I can only assure you that there is a way out but it is not obvious and I cannot help you further with it, sorry but as I say I found it so annoying I just fast tracked eventually.

Fast travel?

It's difficult at best, and I got lost numerous times, just like the initial poster.

All I'll say is to read the game wikis and then check out the caves until you find one that lets you go on. This is one place that doesn't resort to a lot of hand-holding!