I disagree. I hate when games do this, particularly open world ones. The point of going to find loot and stuff is that it benefits you. If there is no benefit then the game shouldn't give you the option. Those games should be linear, because they're trying to make a linear experience out of something non-linear.

If I'm struggling, I want to be able to leave and come back stronger. Even if I wasn't, I want to come back and feel that I've gained power with the time I spent. If I don't, I know I'm wasting my time.