I always thought the way kingdom hearts did it was nice. Give you a little mini game flying to your next world, and only be forced to do it once, but make there be a rewards for doing it again with better ships going for faster times and more enemies with their own rewards to chase
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My thoughts exactly kingdoms hearts 2 had a great gummi ship mini game as a way between worlds. It would be dope to blast hive/fallen ships out of space!
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Gummi ships were honestly hours of entertainment for me