Try this
- Check transport, likely duration and any commitments that make an early departure important.
- Choose a plain phrase for leaving and discuss whether you can travel separately. Avoid relying on a coded hint the other person may miss.
A worked example
“If I get tired, can I tell you directly rather than hinting?”
An invented example to adapt, not a real exchange or a script you have to follow.
Before you leave it here
Decide whether leaving separately is possible before arriving, so neither person has to guess.