You can conveniently select your destination from the list of places in the main menu. Here, you can quickly switch from location to location without having to explore the places on foot. Some areas are locked until you progress in the story.
In dungeons however, you’ll have to take control of your character and explore the area on foot. Aside from the standard movement controls, you can also use the DPAD to look up or down to interact with objects such as holes and ledges.
As you get near interactable objects or locations, a yellow circle will appear around your character. Search the area for an exclamation point as it can be an item, ledge or button to push.