But... clearly the developers *did* intend for players to engage with the game by using fast-travel to skip long tedious walks from point A to point B. That's why they explicitly designed and added such a feature.
Anecdotally, I can't think of any open-world game made in the last decade that doesn't have a liberal fast-travel ability. With the amount of back-tracking required, especially when you get into side-quests, collectibles, achievements, etc., they'd be virtually unplayable for anyone who doesn't have 200+ hours of leisure time to devote to a single game.