you cannot get lost if you feel at home where you are

I don't think that this is a matter that can be defined by one's feelings. If you are unable to locate yourself in relation to the nearby landscape, you will not be able to reliably find a return route and thus are lost until you can locate yourself again or you have discovered a return route.

Whether you freak out about this is quite important to your eventual safety, but just "feeling at home" doesn't mean you are home free.