You can use "去", when you go some place that no matter whether you had gone before.
You can use "回", only when you go to the place where you had been gone before.
1.You are going back home.
You can say "我去家里", or "我回家里"(because you usually stayed at home);
2.You are going to the restaurant where you lost your phone.
You can say "我去饭店，我手机丢那了" or "我回饭店，我手机丢那了"（because you had gone to the restaurant before）;
3.you are going to the USA that you had never been to.
You can say "我要去美国", but can't use "回", because you had never gone there.
"出" looks like "out". You can use it when you are out of something.
"出门" -- You go to somewhere out of your house.
"出国" -- You go another country out of your contury.
"出家" -- You are monk and are out of the raucous riot of commerce.
"出来" -- You are out of the place that you stay, and will be in another place.
"出去" -- You are out of the place where you stay, and go to other places.