[2023] How to go back to the first locations?

Hi there,

So I created second character, and just before I finished the first "introductionary" locations I happen to teleport to my endgame friend to the end of time. What's interesting, I got some quest completed immediatly just by going there. Unfortunately, I then noticed that there is no teleport available to come back to where I came from.

So my questions are:
- Is there a way to go back to the first game locations, if not by teleport, then via the time travelling?
- If it's impossible to come back, am I missing anything important (idols slots, mandatory quests, etc) by avoiding it?