You have to talk to Datz if ever you want to return to the ship. Inquire about him and Zatz, as well as their injuries to unlock another party chat. (Datz's Name) There's nothing of interest here so exit the house to the world map.
Once there, you'll have another party chat to view. (The Shoreline Baths) Follow the shoreline and the trail heading southwest until another set of scenes are triggered. After the scenes, another party chat can be viewed. (The Swordmaster's Sting)
Once done, continue to the west to reach the badlands. Head to the bridge where the opposing forces are in stalemate and enter it.
Eisen Bridge
After getting introduced to the commander, a new party chat can be viewed. (Symbol of the Shieldbearers) Once done, leave the garrison and head further west to reach the town of the Shieldbearers.