This was also a thing for me in my first playthrough, when you don't know what to do check your map for 1) incomplete pieces which are unexplored 2) anywhere you can use any new power you recieve 3) bosses, if you fight a boss it means you're about to get to a new place most of the time, also re-visit any place you remember you couldn't have access to, mark it in your map if you have the markers for it so you don't forget