Returning is not the problem
Players often say they hate backtracking, but the real issue is not returning to a place. The issue is returning with nothing new to do, nothing new to understand and no new relationship with the space. A hallway is boring when it is just a hallway. It becomes interesting when a new ability, shortcut or piece of knowledge changes what that hallway means.
Great games use backtracking like a memory test. They ask: do you remember this locked door? Do you remember the broken bridge? Do you remember the enemy that scared you two hours ago? Then they let you walk back with new confidence.
The best shortcut is emotional
A shortcut is not only a convenience. It is a reward that says the world was planned before you arrived. When a gate opens from the other side, the map suddenly clicks in your head. The player feels clever, even if the designer built the moment carefully.
This is why dense worlds often beat huge ones. A giant map can give you distance, but a folded map gives you recognition. Recognition is what turns a level into a place.
Progress should be visible in old rooms
The strongest backtracking makes progress visible. Enemies that once felt impossible become manageable. A ledge that seemed decorative becomes a route. A quiet room becomes suspicious because now you understand the rules better.
Good backtracking is not repetition. It is a before-and-after shot that the player controls.