I also think that you should have to walk to a teleport waypoint to actually teleport - that makes sense given that those gates are supposedly how you teleport. I think it is highly dodgy that you can bypass all the danger in an area (like the Underdark) by opening the map and just teleporting to safety. Initially I didn't realise you could use the map to teleport, so I had to sneak out of the goblin camp (which was on alert) and then fight to external gate, with an exchausted/battered party (I didn't elect to sleep), to then teleport from the courtyard gate. That was exciting, if a bit tense.
They could also [...] allow fast-forward on-map travel to a labelled map point. They could then interrupt that journey if you ran into an encounter (hehe!). At the moment, the insta-teleport along with sleeping being too easy really diminish (for me at least) the sense of danger (and accomplishment when you manage to do it).
I'm a fan of this latter option. Allow fast-travel to waypoints, but in the background the game should calculate the path taken and figure out if there's an encounter. It would be a good mix of the convenience of waypoint travel but with the realism/danger of not being able to just teleport out of dangerous situations.
Obviously this should also require a valid path to an already-found waypoint. E.g., if you fall down to the underdark, you can't teleport away because you haven't found any of the underdark waypoints yet and presumably the door entrance is still locked. (also, any path in this case would almost certainly lead to an encounter/trap)
