Firstly. Are you talking about the olden days or modern games like dark souls?

Secondly. All the hidden doors in dark souls have glowing red texts in front of them.

Thirdly. Dark souls do the same "way foward is always clear" desing all the other games do. Its only the secred areas that are hidden in offline play.

Fourthly. Most of the shortcuts are done in a way where you find the wrong side of the door first, giving the player indication you will be able at some point to open said door/elevator/ladder giving you a visual hint that there is something hidden.

Go play Kings Field and you will experience what games feel like when devs dont want you to know how to progress.