This is the currently expected behaviour, but it will be changed in future.
You shouldn’t need to fight through the same content multiple times, however. Between Waypoints and the ability to travel back to where you had been after portaling to town, it should be possible to play through the entirety of the campaign without killing many enemies more than once. Are you regularly portaling to town, or playing across a large number of relatively short sessions (e.g. 10 minutes her,e 15 minutes there) ?
The video you link to is of a character leaving town to enter an adjoining zone. That zone has a Waypoint, so I’m not sure why you’d be entering the zone from there each time. When you’ve fully invetigated the zone, do you not move onto the next one? I’m just finding it a little hard to follow exactly what’s happening here; it isn’t feedback I’ve seen before.