Doraemon Movie 36: Shin Nobita no Nippon Tanjou (Doraemon the Movie 36: Nobita and the Birth of Japan)
In the story, Nobita comes up with the idea of running away from home because he is always being scolded at home and at school. Additionally, Gian, Shizuka, and Suneo all have their own reasons for running away from home. Together with Doraemon, they all travel through time to the Japan of 70,000 years ago.
[Source: Anime News Network]