This is one of those few terrible design decisions in this game.
I still havn't seen frostwall yet. I can't respec my warrior due to not being able to get the aoe skills again either. Sucks.
Other than that its a great game. Just make some books more easily available.
Better yet, ditch the skill books. They serve no useful purpose and just make trying to do a rudimentary task, leveling up, a pain.