I had the Rogue and Priest knocked out. Not wanting to waste camping supplies, I map traveled back to Dyrford to use the inn.

 

The bodies of the two down characters appeared next to me at the edge of town.

 

But -- I can't enter the inn because my party isn't gathered, I can't camp because I'm in town, and I can't go back to the wilderness because, again, my party's not gathered.

 

Am I doing it wrong or is this a bug?

Bug. If they didn't actually die (i.e., if you didn't have permadeath enabled in the prefs or get them hit while maimed), they ought to stand up by themselves. Don't know what happens if they do actually die; I would presume they drop their loot and evaporate like the rest of the corpses.

Okay so it's bugged -- they're still downed after map travel.

They probably froze in that state because you map traveled.  Time to start a new game.  I have just been trying new classes and playing until it bugs.  I look for bugs while I am at it.