When playing Tropical Freeze I recall finding Windmill Hills particularly enjoyable, and it was really nice to return to it on/off throughout my playthrough as I carefully balanced progressing through the game with polishing off earlier worlds.
Upon finally besting Lord Fredrik, I had a sense that I had savored and completed much of the game to that point, while still leaving myself some endgame objectives to complete.
Similarly with Yooka-Laylee, I think, the prime mentality will be to *savor.* "Expand or move on?" When first confronted with this choice, I'll likely choose to linger in Tribalstack Tropics a little more, but not so much as for the world to overstay its welcome ... the halls of Hivory Towers will beckon, and World 2 awaits, but as I leave I'll know full well that this is temporary, and that in time I will gladly return to this familiar land of sunlit ruins and pink deciduous trees with fresh challenges to complete!
In short: no firm rules, just "have a sense of progression, but not too quickly; linger, appreciate, revisit; often consider the possibility of saving it for later"