I've never found a need to park my hireling cleric at the entrance of a dungeon, although I can understand the thinking behind that: that they're incredibly stupid and will almost always run through traps and so forth.
Still, I've found that by just leaving them set to 'defend me' and having them at your six is best, since they'll often heal you right when you need it most - right in the middle of a fight. If they're at the entrance, and you're dead, what good are they doing? Sure you can still call them to retrieve your stone (or can you?) and then they can follow your ghost to the shrine, but why not just stay alive in the first place?
Also, try and get used to groups. You're going to find that soloing later on is much more difficult if not impossible, especially with a (respectfully submitted) squishy bard.
Once you get accustomed to the PUG environment, or better yet a static group or guild, you'll only occasionally solo just for the change of pace. Then again, if you never really intend to reach cap and just want to enjoy the game at your own pace, I don't blame you for wanting to stick to solo. In that case, stay out of Gianthold.