Just had a few hours of great fun with my now level 7 N/W and three henchmen doing the mission string from the Northern Wall in post-searing Ascalon, to pushing back the charr from Fort Ranik back to the wall - only to die horribly while getting jumped by a few too many charrs just in front of the wall

I can't say I was too pleased with being bumped back to Fort Ranik and can now look back to hammering away at the exact same rather long route again with all mobs respawned.
I assume this means that in worst case scenario with a few too many screw ups you could potentially end up running the same mission for 8+ hours if your party was wiped out multiple times near the end of the mission?
I am really enjoying GW, but I am curious to know if it's so story driven that you have to go through the main story missions if you want to advance to new areas and move on to Lion's Arch etc., or if it's possible to just waltz around randomly and still progress if you feel like doing that?
And a question with regards to the specific mission that got me killed here. I assume I don't have to try to take out all the charr on the wall, but should just have headed for the Frontier Gate instead that I just noticed on a map?