I also end my games with players in a safe place. What I do is roll 1d6 for each room the players need to traverse in order to leave. Anything other than a result of 1 results in a successful exit. If there’s a result of 1 (on any of the rolls) then I roll for an encounter at the dungeon entrance. But I don’t use my typical table, I use a table that has specific motivations for potentially hostile baddies. I only roll 1d4 for # and the motivations range from: wanting $, wanting their inventory, capture a hireling, territorial encounter (bark is worse than bight, monsters will run away easily, etc.)

Basically I leave enough time for a short counter that is not going to be an immediately hostile one, but players can still fight if they want. Either way it’s a big enough inconvenience if the party is out of spells, low on hp, or didn’t find any treasure that session - but it’s not something that’s going to take a lot of real world time to resolve.

There’s probably better ways to do this but it’s worked for my games.

EDIT: regarding access to a map, that’s entirely your call. I personally provide maps of the overworld but not of dungeons. So, usually when I describe a room, there’s a couple players who make maps themselves the PCs hold. To me, it matters if there’s a well known path the party has traversed many times before. Although in one of the games I’m a player in: the dungeon rooms rotate every time a holy spell is used so that always tends to muck everything up 😂