Yes, this is the normal manner for animists to get to the Hero Planes. The
worshipper usually goes before his Great God who sends him to the desired
place.
Sorcerers and Venerators go to the Sorcery World, find the way to the
correct node and exit into the Hero Planes.
Certainly, as Peter suggested, places exist that simply cast, drag or drop
anyone into the Hero Planes without any Otherworld. Such spots are
exceptional: the stuff of a story, not a rule.
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