What I found is when you press ALT+D you can teleport to different location under MAP category and try teleporting back and forth. pick one location, I used temple moved about for a little bit until I got teleport back to prison perfect to land myself back in the cell. It is finnicky but it works.
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If you stand here use Map go to
10 Cloister
then move here
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go to 98 Prison
and you will be on top of bench
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It seems that flag to remove prison bars is not working
Here is workaround