Quick Warp with M&kb

When playing with a Controller you can click on a Waypoint and press a Button (i think it is 'Y') to travel to town and when in town you can do it to travel back to the Waypoint you came from.

I would like to have a similar feature for Mouse & Keyboard, maybe when Alt+Left-Click it sent's you to town and back or if you want people to open the Waypoint Map add a Hotkey to it (like with controller) that sent's me to town and back.