Nah, if you really afk (10min) you are removed from the duty by the game, if you afk because of "emergency" the game kicks you (after 10min) or the party does, losing that progress is your "penalty" if you afk for less well tough for your party, its not "nice" to do it but no one can get you for that.

In order to get any sort of penalty for that, you would need to do this over and over while also getting salty players who repeat you each time ... most just kick you get a replacement and move on however.

Since almost all dungeons scale wonky and are faceroll, there's a good chance you did not need the 4th player anyway so most wont even wait and just continue further till your back or they decide to kick you for afk. Unless your in a party that would rather complain for 10min then clear the next section of the dungeon 2 min slower then normal.