Nobody warps out of a fight because they might die, I`d rather go down fighting myself, and the exp loss is hardly even noticeable anyway. As almost everyone has said you can just go and get another warp scroll anyway and go straight back out. I don't know where this sense of fear you talk about comes from. The only mobs in the game currently that anyone really fears dying to are endgame mobs and I doubt anyone is going to waste a run for the sake of a bit of exp.
Warp scrolls are just a way of getting from 1 place back to your home point when you're done with whatever it was you were doing. Can't remember the last time I ever used a warp scroll to escape death.