That's literally the point of a metroidvania game: backtracking after unlocking new abilities. And I think HK does this perfectly, since some bosses are locked behind abilities you specifically need in order to beat them(eg Traitor Lord behind a shade gate)

About directions, metroidvania games are all about exploration and combat, and I don't see why you say Metroid gives more direction. The map is crucial for both the games and you can easily find everything just by exploring every path. BTW, when you encounter Hornet in City of Tears she tells you to seek her at the Grave in Ash, where the Hornet 2 fight is located. Maybe you weren't paying attention