Unfortunately there are road works/issues on the main road into Jenolan Caves severely limiting access at present.
The usual bus transfer using CDC tours in Katoomba is unavailable until next April according to their web site.
We used them when we walked the SFT from Jenolan back to Katoomba some years ago, and what I would have recommended.
It looks like Edith Road is the only practical detour into the caves area at present and it isn't suitable for heavy vehicles.
One option would be a private car shuffle if you can organise it, but that would be a pain IMHO.
Otherwise taxi or other hire vehicle is likely the only other (expensive) option unless you have a kind relative or friend willing to pick you up.
I guess hitchhiking might suit some adventurous souls but I wouldn't do it myself. Others may have a different view.
And there may be limited traffic around in any case, as the caves themselves are still closed due to Covid19.
If you're feeling really energetic spend a night or two at Jenolan then walk back?