I see the area you mean. But replaying it made me realize that you need the Mantis claw (wall jump, you can't see much of Cristal peak without it) to access it meaning you have to already played quite a bit to get their (in addition the lamp is very costly at the beginning. I think it was a way to make sure players to buy it too early.)
It's possible that you are lock into this area till you succeed it (don't remember if you can wall jump back to the top). It's for sure a tricky platforming segment.
I get the feeling to "have to find a bench or map" can be annoying. I personally enjoyed the map system and how we fill it progressively.
I always had the feeling to be rewarded for exploring but we can't all like the same thing