A lot of the lanyards I use now are spliced by melting the ends of the nylon cord and making a butt joint with them.
You melt them just about the same as if you were doing a flame whipping and then just shove them together end to end.
I usually roll the joint between wet finger tips before it hardens just to smooth it out.
You end up with a short hard joint about the same diameter as your cord.
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May set off to explore without any sense of direction or how to return.