That's a weird bug... I've never experienced anything like that.

At first I was going to say did you find or activate all the portal waypoints? But it doesn't sound like that's the problem...

You could try manually working your way back as long as you can jump from a later area, to an earlier area. All areas from Daventry to Underground are more or less physically connected or have alternative travel points.

Underground to Barren Realm requires use of teleport to go back and forth between the two places. Barren Realm and Ice Realm are physically connected.

But if you can get to at least the Underground, you can still make your way back to the Swamp (use the whirlpool).

I can still teleport, I just can't go, say, straight to Daventry from the frozen reaches. I can only teleport to the area directly before or directly after the one I'm in, which can result in a lot of really long loading screens.

There are also three other glitches of only minor annoyance that I've found while playing this game:

In the Dimension of Death there is this multilevel building you can climb near the left half of the river, and if you are off center when you pull out the grappling hook to climb it (even when climbing down as I recall) you end up throwing the hook into a black void and after the animation ends, as I recall, all you can see is a portal and a skeleton, and if you dismount the grappling hook you just fall indefinitely. Honestly, this one I found more amusing than annoying.

After finally getting back to the swamp from the frozen reaches, I wasn't able to get Connor to read the permanent spell of might scroll, but when I got back to the frozen reaches it worked again.

In the Barren region, after being disarmed from defeating the basilisk, if I would try to go into melee combat mode Connor would just stand there and the only thing I could get him to do was turn, but the turning animation didn't play (I think it caused me to crash once), and being in a different realm doesn't change it. This stopped happening after I got another melee weapon.