2. Unlock all the campfires
You can only fast-travel to campfires you’ve already unlocked, so make sure to discover any that you see while you’re out exploring. Look out for the grey campfire icon at the top of the screen. If one appears, it means there’s a campfire right in that direction.
Unlocking campfires gives you more options for fast-travelling, and will make backtracking in side quests far less tedious.