That's right. And you're right to say that it doesn't apply on the Hero Plane.
Rules aside, there are probably areas of the Underworld where it wouldn't apply - to some people (e.g. Shargashi wouldn't suffer it in Alkoth). It probably wouldn't apply to magic from Underworld entities either.
If your Hero Band's Guardian originated in the Underworld it might LOSE the Alien World penalty it normally suffers when it visits the Underworld. That might make temporary membership worth having in itself.
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