I always think back to the original two Fallout games vs the ones that came later.
Scenes were set pieces, and travel was something that occurred on a map, with random encounters that occurred along the way as you moved from one location to another. It wasn’t fast travel, but nor was it “experience every mile of your journey in real time”. And depending on the path you took, you could still stumble across secrets, unique locations etc.
That remains my favourite travel method in games, and though it’s rare, it is still done well in some more recent games. Owlcat is particularly good at it, and their Pathfinder games did it really well, and as does Rogue Trader (though it isn’t a game for this sub yet). Solasta: Crown of the Magister also does it well