There are two different types of Portals in the game, one allowing you to escape and the takes you down one level deeper.
Escape Portals will appear isolated and only allow a single person out of the dungeon.
Down Portals will appear in a set three, allowing 3 players to descend together, each of these portals also only allows one player to escape at a time.
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Locate the portal and initiate its activation by pressing the F key. Once activated, a blue/red circle will materialize, and the transfer process will commence as soon as you step into it. It’s crucial to exercise caution and be mindful of your surroundings, as any disruptions or enemy attacks while entering the portal could result in a failed escape.
You can Teleport to
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You can check the spawn times of portals for individual dungeons: