Need Some Help With Save Point Travels

So...I started my first playthrough of Zestiria over the past month, and I'm having some trouble with Save Point traveling. I mean, I can do it, but for some reason it won't let me go to places like Marlind or Ladylake, and I'm in Goddodin right now. The reason I ask for help is that I realized too late that I forgot to get an Iris Gem in Bors Ruins, and I want to go back there to get it, but I can't seem to warp there. Do I need to do anything in order to warp from Goddodin to Bors Ruins? Or do I need to do some trials first? Thanks in advance!

Story road block. You'll have to wait until later in the game to go back there.