As Aradune himself mentioned, you don’t need to do a full corpse run just to get your stuff back. It seems that using an altar is good enough, it can summon your things.
Back then, I’d never seen any altars in the game, so I had no clue what to look for. Now I ran into this by accident:
Yep, that’s an altar alright. Looks a bit like a rift. Oooh, I wonder if altars and rifts are relics of the same forgotten but advanced civilization (imagine an ominous melody playing now).