The only ways to drop without a penalty is if the party isn't full or if a vote to abandon passes.
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The only ways to drop without a penalty is if the party isn't full or if a vote to abandon passes.
So if I am understanding what you are saying, you joined a party that was currently engaged with the final boss, and the duty had only 3mins left to complete upon your entering so you left to go do Palace of the dead? Well I find that quite remarkable since the duty finder automatically stops looking for people well before the timer gets that low (to prevent these exact circumstances!) :)
My guess is you popped in didnt like what you were seeing and left in which case you should indeed suffer a penalty and be unable to join in other content until you have done your time out for putting other players into an unfavorable circumstance.
Maybe it's just me, but the entire topic should have ended with the fact that it's a penalty. The technicalities behind it probably don't mean much to the devs if the entire point is to punish you and make you suffer a consequence, regardless of what it might be (assuming no actual harm is done).