Flight from the home point out to the data collection area is terrain aware. Flight home from the data collection is terrain aware as long as it is a part of the completed programmed mission. For multi battery terrain aware flights or times when the aircraft returns to home at an uncontrolled time, that flight is NOT terrain aware since it is using the aircraft's standard RTH method.
Here is the best news: You can test all of this on the simulator without leaving your desk.
Save the flight without the aircraft connected. Open the mission from the Mission Management screen. Connect the aircraft and turn on the simulator. You can test the return to home to see what it does while keeping an eye on the terrain plot for any close calls.
In general we always recommend taking off as high as you can get in the terrain you will be covering to keep any unintended return-to-home events from becoming return-to-home-into-a-hillside events.
Without seeing more about this location it is a little hard to help. Map Pilot will give you an option to raise your return to home height before takeoff. This is based on its knowledge of the surrounding area from flight path data only. It does not know if there is a giant cliff right next to it if the flight path didn't go over it.