Well, if there is a place that you can't access on the first run through an area, coming back for that to obtain a optional or main ability or to get through a different rout that leads to a new area or the continuation of the main story, i can't see it as bad, even the first LoS did that, with the brotherhood chests.
Now, if you have to go back and collect items or try to kill a number of enemies, that's another story, but even that the first LoS did, if you wanted to obtain 100% or more for a stage.