Gollum had no problems to find his way in dark labyrinths, and was able to go through places the others can't... he'd surely find a way out
And I doubt he had any close relationships with the orcs, they probably didn't even know he was there.
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"Hobbits! Well, what next? I have heard of strange doings in this land, but I have seldom heard of a hobbit sleeping out of doors under a tree. Three of them! There's something mighty queer behind this."
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