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You declare your intention to make a voluntary withdrawal at the start of any of your phases before rolling your command dice. Your men are then to be able to exit the table via the JOPs provided they are neither pinned nor too far away, generally within 12" of the JOP. The full rules are in the At the Sharp End campaign supplement on page 23. Depending on the precise circumstances there is a risk some of the men might get lost or become prisoners if the distance to the JOPs is greater than 12" or they are pinned.