No, they haven't left the galaxy. All the Bobs except Icarus and Daedalus are still in the Orion Arm of the Milky Way (which Taylor calls the Orion Spur). Ick and Dae have traveled partway around the center of the galaxy through the wormhole network, which circles the Sag A* black hole in a kind of ring formation. The Pan-Galactic Federation left the galaxy, as Ick and Dae discover, and my guess is that future Bobiverse novels will have the Bobs leave the galaxy in order to avoid its eventual destruction, after rounding up all the sentients in the quadrant of the galaxy that was unconquered by the Federation.