Suggestions for a Fast travel system

Best solution would be greater/lesser whispers for me. That’s just it.

I really don’t understand the

because the world is beauty, has a complex level design and is constantly updated and alive.

This is not a valid argument against fast travel. Even if I teleport to a whisper I can admire the beauty of the level while I look for enemies or bounties or other quests inside that area.
I am still encouraged to explore to find more chests, items, enemies and so on.

The only part that is cut out it’s the walking/running/ dash spamming to get there.

The complex level design is okay, but once the shortcuts are enabled it’s done, like a puzzle with a solution. I can’t do it twice. It meant I explored almost all of the area.
Sometimes there are significant changes that requires to find another route to reach the objective but as far as I’ve seen these are rare and still do not encompass all the zone and most of the time it’s still just rush to the target objective.