An example video detailing how LUCID handles Backtracking and "Non-Critical Path" Secrets!

(Room still a W.I.P.)

In LUCID there will be secrets to discover.

Often hidden away from the critical path, behind more challenging, and optional platforming.

Here you can see a more advanced course found later into the game.

Not only will these challenges reward you with a rare material or upgrade, but will more often than not, reveal a new shortcut. Making for a much better backtracking experience.