How do you teleport in Zelda Wind Waker?
The levels have pots that you can open and jump in to to warp to other pots you opened. If you do not want to use the pot, the easiest way to teleport back to the begining of a level is to save and quit, then start up again. Also, after a boss, you can warp outside using the circle of spiralling winds, just be sure to take the heart before you go unless you want to go all the way back to get it later. I’m assuming you are talking about Dragon Roost, just backtrack out of the room and through the lava filled hall. At the turn, use the grappling hook, use R to stop, then change direction to the door, and start swinging again. Back in the central room, jump onto the round platform floating on the lava and wait for it to shoot upward. Follow the path and eventually you will find a pot (I think you have to bomb it open with a nearby bomb flower).