Note:
I recommend you have a boat with you, since you will probably drain all your stamina on your way back.
If you go straight for the coast after talking to the guard at Dudora's Villa(who sets navigation for you) it will reset due to the desert, so with this method you don't have to worry about it.
Use ALT+LMB on your map to place destination points to Dudora's Villa and Arehaza Town, as shown in the video.
Distance to Arehaza Town: 2640 units
Distance to Dudora's Villa: 1130 units
Dive straight down.
I literally created an account just to show my grattitude, i have been trying to find this for over 2HOURS! THANK YOU SO SO MUCH DUDE, i was so pissed , holy shit, you are a genius.
I had to go in the Screenshots tab on this page and look at the 2nd one, posted Dec 2020 by Tmp1748, in order to have a clear idea of where this was. Once I noticed the four stones on the ground, it was made much more easy!