Jabes.plays.RPG says:
@Len, does Baracus ever have any thoughts about returning to Qinglai? What might be waiting for him back there?
So, I'm not sure how much my head cannon matches your world history, but I'll lay out what I'm thinking and we can modify it to fit.
The Half-Orcs of Qinglai were once a proud and independent people with a vibrant culture and history. Now they are mostly conquered / assimilated into Qinglai. But before this happened, Baracus's father led his people on a final, brutal war against Qinglai. He likely knew it was impossible to beat them, but his goal was to wage a war so terrible and glorious as to gain the attention of Gruumsh and secure a place of honour and prestige in the afterlife on the plane of Acheron.
[ +- ] Acheron
Acheron is an eternal battlefield of endless conflict. It is a plane of law where conformity takes precedence over any thoughts of good. Unending battles take place across the entire plane between huge armies, with no chance of victory or cease-fire. Each layer of the plane consists of a huge number of iron cubes of varying size, from continent-sized to small islands;[4] not all of these are actually cube-shaped, but they are generally called cubes nonetheless.[4] The cubes float in an air-filled, infinite space,[4] occasionally colliding with each other.[5]
Every cube face is habitable, with gravity always being directed towards the cube's center;[4] furthermore, the cubes are filled with caverns and tunnels.[5]
The light on Acheron varies between that similar to bright moonlight to that of a dark and cloudy day. The sound of battle resonates around the plane and can always be heard in the distance.
Baracus believes his father was successful in leading his people to Acheron, but Baracus himself was too young to join the war and is now stranded in the material plane with no deeds great enough to allow him to follow after his father's footsteps.
After Qinglai conquered his people, Baracus was taken to a monastery. I haven't worked out the details here in my mind. I suspect it was a kind of prison sentence that kept the son of the great war leader apart from his people in case the son had ambitions like his father. I think they tried to 'civilize' him and probably succeeded in part. Baracus definitely values kindness, friendship, and other human things more than the average Half Orc barbarian.
I'm not sure how he ended up in Cysegr with the A-Team. Other than friendship, I imagine he stays with these guys because they are great magnets for trouble, and given that his number one motivation is to rack up great deeds, probably sees this as an efficient path to that goal.
Would he return to Qinglai? Probably. But he is a leaf on the wind. He sees his time on the Material Plane as a temporary speed bump on his way to eternity, and has few attachments here. But not sure if there is much waiting for him there. I suppose his people might need him, and he has a connection to his old monastery that is still ill defined, and therein would lie his strongest ties to Qinglai.