Consider your options

Both of you lie on the ground, basking in the waves of pleasure after the sex you just had. The danger of coupling in a potentially dangerous situation did turn both of you quite much. Fortunately, you stayed undetected by the two female warriors. Their intercourse took much longer than yours - only after you finished, both women achieved release.

As they lied on the ground, cuddling together, you considered what to do.

You could just leave - but that would leave you none the wiser about the situation in the surrounding area. Eventually, you would just meet them some other time - and that time, it could go rather poorly.

You could come out and welcome them - well, not now, but later - walking on someone who just had sex is a rather straightway to have a spear thrust into your guts. No, you would have to wait for them to put on their clothes. After that... well, you are not so sure. Maybe they are just part of the patrol? Maybe they are bandits? How would they react - in a friendly manner, or hostile?

You could sneak after them - that would allow you to observe them and map some of the surrounding areas. But it would pull you away from your group for days if not weeks.