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I saw you leaving the house yesterday, where did you go? - Я видел, как ты выходил из дома вчера, куда ты ходил?
They said you barely escaped the police, where did you go? - Мне сказали, ты едва...

Normally, you can associate a verb's prefix with English verb's preposition.

eхать - simply to go
приехать - to arrive (as if to go in)
уехать - to depart (as if to go out)
etc.

куда ты...