Could have sworn I already suggested this...

[Namine]

Best in Namin?'s personal opinion to be thankful for the invention of the warp NPC where they should be, and they are allowed to be unlocked. Players of heRO gets the best of both worlds where they get the experience how official server players travel from place to place, but then also get to save the warp to diminish the trouble of traveling after having the first experience.

Fly Wing is perhaps the best tool here to travel across difficult maps early on in order to unlock warps. Another method is simply hire a Priest to memo/warp there, if sir so truly detests the idea of traveling on a map.