Alternatively you can enter Woh Gates from Morimar Basalt Fields (E-11) and then have a friend tractor you to the path above at the intersection. This gains you access to both Yorcia Weald and Kamihr Drifts with none of the above key items needed.
If you've already visited Yorcia Weald, zoning in via waypoint also triggers the cutscene.
Having reunited with Arciela in Cirdas Caverns, you learned that she will not let you have the sword, but instead will go with you to Yorcia Weald. The entrance to Yorcia Weald lies in I-7 of Cirdas Caverns. Confirmed!
SPOILER WARNING: Click here for additional details about this story line.