[GW150914]

How can it be both finite in size, and have no edges?

Good question, but find me the edge of an idealized balloon. Where is the edge of a sphere? As to why you won’t come back, remember that spacetime is expanding faster an faster, and you can only travel below light speed. Mind you that’s just one possibility. The universe at large could be a lot of different things, but as humans were causally disconnected from anything beyond the shrinking observable universe. Shrinking from our perspective at least, because of the aforementioned expansion and speed limit.