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You can do the normal seeming route of progression with swamp > Upper Calrath > Fief > Tower of Penance > Abbey, but you have the option to go to the area that leads to both the tower of penance and abbey before going to the swamp, and can do either of those in whichever order you choose from there. You get the option to go to the Fief without doing the upper calrath one (but not until after the swamp, I think). But you can also do all the boss fights without ever interacting with any of the beacons. None of the beacons need to be touched before you can move onto another area. The only one that would be directly before another(as far as I've found) is that you have to do the bossfight for the swamp one before you can progress through to the next area and continue on to reach Upper Calrath's.
There's no beacon down where you are. Dervla isn't mandatory for the main progression, just for a couple questlines and for the inner boss completionist