Negotiate

In your completely nude state, you have no chance of fighting your way out. Instead, you shift from a combat stance to your best seductive look you can muster, thrusting your butt out and putting your hand on your hip to accentuate your curves.

When you're sure you've gotten their attention, you ask them a question. "We can work something out, right? I can give you something you want, and you can give me something I want. I want to leave, so why don't I give you something, then you let me leave?"

The guard on the left grips his spear more tightly and barks, "No! Chief wants you home! You go back!"

His companion, however, is much more amenable to the idea. "You give what I want? I want you suck dick!" To demonstrate his proposal, he lifts his loincloth, flashing his rapidly growing erection.

If he would let you out with a simple blowjob that would be much easier than fighting your way out, but can you get him off before more goblins arrive?