I got lost on a mountain trail and was completely exhausted by the time I finally made it home.
Literal
Mountain-path [on-で] got-lost, wobbling [to-に] exhausted [and-て] home [to-に] arrived.
ヘロヘロに疲れて 'exhausted to the point of wobbling' — ヘロヘロ is a 擬態語 for being completely drained, wobbly, and barely functioning. たどり着いた 'finally arrived, managed to reach' — たどり着く implies difficulty in getting there.