Warp Assistants move you between towns, for a reasonable fee. You must have visited a town at least once to use its Warp Assistant.
Ignea and Bernicia have a network of airships, allowing free and convenient travel between the Airship Pilots in each city.
Ignea airships will also transport you to Ignea Plains, just outside the city walls.
* The guide may differ from the actual game play due to updates and content changes.