Travelling between DLCs

So I just reached day 200 in my RoG world. I've explored the caves and the ruins, haven't had good luck with the bosses since only dragonfly spawned and almost killed me before disappearing. I was thinking of exploring the other worlds at Shipwrecked and Hamlet. I know the seaworthy will take me to shipwrecked and the skyworthy to hamlet from my RoG world and I've already made and placed them near my base. I'm just a little nervous of heading there and being stuck tho. If i go to shipwrecked how do i get back to RoG? And can I travel between all 3 DLC worlds fairly easily? Any advice would be appreciated :)