[@DestinyStar]That depends on where the dungeon is. Run far and fast, leap over some cliffs, fall about 30 feet, roll around on the ground and stumble on the group trying to clear that dungeon. I picture the gorge in my head starting off on a deep slop before finally flattening out. We're talking hundreds of feet of stone and soil to either side of you with interlocking paths and tunnels to follow. 
I said that navigating it would take days, maybe even a week with backtracking, but if you fall from a high spot to the middle of it without using the paths... maybe like 5 hours of 'oh god my KNEE!' and some bandages.

that said, climbing cliff walls BAD! Bugs and things camp the walls and will knock you off to long unpleasant fall.