Can i go to another world if i'm already in one world?

[Strawberry]

I am on Notre Dame with both Sora and Riku, but i'm stuck on the flying boss fight (Riku) and the poisonous flowers (Sora). Could i go to another world on the map or am i stuck on this world like in CoM?

 

[Chuman]

Yes you can visit other worlds but only if riku and sora are in similar story proximity of each other, otherwise you won't be allowed to carry on. My advice for wargoyle as riku is to load your deck spells like balloon and cure and stay moving. As for sora, use flowmotion, cure and spells like balloon plenty and stay on the move. Those DEs have a move where they hit you with thorns that got me a lot before I got second chance (easily accessible from zolephants ability link board).