Usually, to travel throughout Jamaa, you walk your animal from one land to the next via connecting pathways.
You can skip all the walking and go directly to any of the lands by clicking on the little blue icon that looks like a world globe on the bottom right side of the screen.
Here is an image that shows the world globe icon:
This will bring up the map of Jamaa:
On this map, you can click any of the lands and your animal will be teleported to the land instantly.