I find navigating to Mazus in Tinto Mines worse than Pesmerga, only to be greeted 'not yet, the time hasn't come yet'. It's a bigger trap than Pesmerga for any first timers because you will pass by him during the story, unlike Persmerga. But at that point, many first timers not using a guide would have missed enough characters such that Mazus is never recruitable, but they will keep visiting him till the end of the game before giving up.
Anyways, I certainly don't mind backtracking as long as there are enough recruitment hints given, even if I have to earn the hints. And of course, if in dungeons, I want any loading time (particularly random encounters) to be near instantaneous. I can't imagine backtracking dungeons on Switch / PS4.