You mean the msq castrum and prae dungeons? No. The main exp comes from the bonus. If you wanna kill things for exp, run your highest level dungeon.
You get the same amount of poetics no matter how many enemies die. How are you getting left behind? Every single job has sprint. I'll never understand not using it on cooldown.
Lockouts are not an issue, as you are teleported into the fight, if for some reason you were hanging back.
If you're that desperate for exp, just return at the end of the dungeon and kill them yourself.