Drabnir's grotto was the original way I went, and then the way I had to go back at least once lol. I cleared it out I think when I went through it.
When I glitched through the gate, I went along a bit further as I hadn't explored the other side, and I found the beach and Drake that you mentioned. I killed the drake and then headed on over to the volcano camp.
I've set my port crystal down here because it seems to be much easier to teleport over when needed. I'm currently back at Bakbattahl pursuing another quest. I need to see if this place has it's own permanent port crystal because I find getting here currently requires me to run, or to port to Vermund and then take a couple of connecting oxcarts via the Checkpoint place.
Funnily enough, my going through the grotto was an accident, I was heading to a dragon, and got side-tracked. I think this is when the game it as it's best, when you're just going down a route and you don't know what you'll find at the other side of it.