This section of the Darksiders 3 guide explains how to use the fast travel feature. This feature is very useful, as you'll often have to return to previously visited locations, e.g. to unlock a previously unavailable pathway.
Fast travel is not accessible anywhere in the game world. You need to get to one of the portals where Vulgrim appears. An example of such portal is shown in the screenshot above, every major location found in the game offers a few of such portals.
After the window appears, choose the third option - Serpent Holes.
Now you can choose a fast travel point. The top icons are used to switch between the major levels. Below you can find is a list of available teleports found in each location. In Darksiders 3, fast travel is free of charge. There is no need to spend souls or any other resources.