What is this excuse of "empty map" every time. We are not on a fast food MMO, here we enjoy the landscapes, the meetings, and (if the game is well designed) we do not stay 1 year in the same area... Doing a few round trips is not a disaster, we must stop transposing our need for immediate consumption into rpg. IMO true rpg and fast travel is incompatible, or then limited to very large areas (in case of big map with some regions / countries) and sure we have to join some waypoints to do that.
An rpg' s fast travel should be a time ellipse to mark long trip to another adventure or a distant place, not to give our character a motorbike ...
The thing is - nobody is stopping you from playing the game the way you described it. But you want to prevent me from playing it the way I want to play it and skip the content I have seen.
Now there are games where traveling and navigating the map is an integral part of the game - for example Outward. However, BG3 is not that type of game.