To the land of death
circe sends odysseus to the underworld
Ithaca
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She sends him to the land of the dead to talk with Tireasais
A owl
The first route Circe gives to Odysseus would send him through the Wandering Rocks. This route has only been navigated successfully one time. The rocks effectively destroy any ship that attempts to sail through them.
He doesn't escape, he's let go. After Zeus says it's time to send Odysseus home, he describes what will happen on this last leg of the journey. Then, he send Hermes to tell Calypso it's time to send Odysseus away. She gives Odysseus some tools, they go into the forest and he builds himself a ship. She gives him some cloth, he makes sails. She supplies him and send him on his way.
The Phaeacians sent Odysseus back to Ithaca thanks to their king, King Alcinous.
Nausicaa was a protagonist. Odysseus and her were very fond of one another. She was princess of Phaeacia, and her father helped send Odysseus back to Ithaca, his homeland. Therefore, Odysseus never "escaped" from her.
Athena is generally the goddess who pities Odysseus, and pleads with the Gods to send him home. Calypso also pities Odysseus when she finds him washed up on her shores, and she nurses Odysseus back to health.
To send odysseus home
2 men and a runner