"What they've proved mathematically as that at the event horizon of a black hole the math fails. It falls apart and no longer makes any sense because the numbers get too large on one side of the equation."

Not so. The maths dies at the singularity at the centre of the hole, but it doesn't at the event horizon except in a badly-chosen coordinate system. Alas, the usual coordinate system we'd present the Schwarzschild solution in is indeed badly-chosen and has an apparent singularity at the horizon, but this is not an actual singularity, as can be seen quickly by calculating a scalar curvature invariant - the Ricci scalar is the immediate choice, it's basically a 4d generalisation of the more-familiar Gaussian curvature - and seeing that it's entirely well-behaved except at the centre of the hole. So we look for a coordinate system well-behaved at the horizon and quickly come across Painleve-Gullstrand coordinates, in which spacetime is locally flat and perfectly behaved at the horizon. The implication is the poor sod wouldn't be able to tell that he'd got to the horizon, except through tidal forces (which depend on the size of the hole), and then he'd struggle to navigate before slamming into a singularity.

Even more confusingly, for a *realistic* hole, the insides are rather different. A Schwarzschild hole has a singularity inevitably in the future - all future-directed paths one can travel on, or light can travel on, end at the singularity. That's a bit of a bummer if you happen to be in a Schwarzschild hole. But a Schwarzschild hole is not physical; it is a non-rotating, uncharged hole, and that's not a realistic setup. In a charged (Reisser-Noerdstrom) or a rotating (Kerr) or, come to that, a charged rotating (Kerr-Newman) hole the singularity is "spacelike" -- there exist paths on which we could, in principle, travel, that avoid the singularity. In the case of a Kerr(-Newman) hole it's even smeared out into the edge of a disc. In reality, good luck navigating in there, but the singularity is not inevitably in the future in there.

A bit closer to the point, you're right that speed doesn't really have anything to do with it. Instead it's the type of path you can travel on, and where *they* go. An event horizon can be defined as the surface on which "null" geodesics, on which light travels, remain equidistant from the hole. If you travel, as massive particles do, on a "timelike" geodesic then you're fucked; you're never going to be able to accelerate enough that you even travel on a null geodesic, let alone a "spacelike" geodesic along which you can basically access anywhere. On a spacelike geodesic you could get out of a hole no problem. You could also travel in time, and you could break causality fifteen times before breakfast. I'd like to travel on a spacelike geodesic - it would be fun. Though managing to get back to a timelike geodesic might be significantly less so.

"Another obvious but often overlooked theory is that our universe IS a black hole inside a larger universe."

That's an extraordinarily strong statement. Our universe might be indistinguishable from a black hole from the outside, yes, but there's a big "might" in there, and an "outside" that doesn't necessarily make much sense either. It all depends on the setup you're assuming. Sure, we could end up finding that the universe is "inside" a black hole for a given definition of "universe", "inside" and "black hole", or we might find that that statement does not make any extent. I wouldn't want to say anything stronger than that, frankly, not least as I'm aware of models of cosmology that are observationally indistinguishable from a standard, infinitely-extended, flat universe, which are also flat, but which have finite extent. One way to do so is to simply put the universe into a toroidal topology. Since GR is a local theory it says nothing about topology, and it would be hard to argue that a universe extended on a torus would look like a black hole from the "outside", since that would be the entire extent of spacetime.