Salem

I am new and I wanted to know if there a way to travel back to Roanoke without having to empty out my inventory?

Get hiking skill, build leanto then rightclick it and 'set homestead'.(then you can teleport with inventory full of goodies between roanoke<=>leanto(8tiles around it))
You can have only one homestead at time.

edited town name

You can fast travel to Roanoke with things in your inventory if you are on your homestead, if all you have is a lean-to then just stand next to it and use the teleport to Boston button.

This also works the other way around, can teleport to your homestead from Boston with stuff in your inventory.

Alright thank you for the help