Nearest shore

Taphos

Ithaca

Red: Sailing, Yellow: Rowing

From the description of Telemachos' arrival back at Ithaca, we can infer how Telemachos deals with the problem of the ambush and exactly how he manages to stay out of the sightline of the watchmen:

Apparently, there's no suitable harbour to sail into or a place to beach the ship without the chance of being seen. In order to avoid being spotted, they not only had to stow the sail, they even needed to lower the mast to minimize their visibility. They then had to row the ship to shore, anchor and tie it. Sailing into a harbour or beaching the ship would have been a lot easier. The difficult place they anchored at, combined with the other measures they took, must mean it had to be on the edge of visibility, surely.
Then, after they took a meal, Telemachos says:

The comrades of Telemachos, were drawing into the shore. They furled the sail, and quickly took down the mast. They rowed with their oars to the place of anchorage, threw out the mooring-stones, and tied up the stern. They then themselves got out on the shore of the sea.

"Now, you row the black ship to the city while I go to the fields and the herdsmen.

If you add it all up, the location of the watchmen, the route used, the way they anchored, the use of the term 'the nearest shore', it all seems to fit my hypothesis perfectly, but the exact spot is yet to be determined. I'll come to that later on, when Odysseus finally returns to Ithaca, but I first want to focus on the moment he is released from the island of Ogygia, where Calypso has been holding him for her own pleasure.

Taphos

Ithaca

Echinai

Odyssey Book 15 line 482-487 Barry B Powell
Odyssey Book 15 line 490-491 Barry B Powell