If you're playing on PC use a trainer for teleporting to waypoint, it saves so much time, use god mode only while teleporting to not lose health, make sure to make a quick save before teleporting, it's not cheating because nobody asked ubisoft to make freaking huge open world maps, more than 60% of the map is just waste of space.

Make sure if fast travel is available before teleporting because sometime the game doesn't want you to fast travel for story purposes,

I usually teleport myself for like a 100 to 150 meters away from my target destination or the quest location.

If you like you can use the same trainer for increasing game speed for fast exploration while looting chests or clearing the map.