Yes, it is very formal, that’s definitely not something that would be used in a normal conversation. Not only the conditional without “si”, but also the construction “infinitive serait mon plaisir” are not usually used in conversation. We would rather use something like:
Si vous souhaitez y retourner, je vous raccompagnerais avec plaisir.
or more casual (“souhaiter” by itself is quite formal):
Si vous voulez y retourner, je vous raccompagnerais avec plaisir.
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