Complex sentence: Later, Snapper escaped from the asylum by teleporting directly to Churljenkins' ship which had broken down on a tiny alien world, which they then "steal" from the Omega Men leaving them stranded there.
Split into simpler sentences: Later, Snapper escapes from the asylum by teleporting directly to Churljenkins' ship. The two "steal" the ship from the Omega Men leaving them stranded there.