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Maybe kill some captains... Point is, some quests (especially main ones) rely on prerequisites to be fullfilled, and although I don't know the prerequisites for this particular instance, I do know that the side-quests unlock them and there is always at least 1 available.
One thing to note about the slave quests though; If no icon of a fist on a shield exists on the map, look for just a fist. These are not so much quests as they are oppertunities to free 2 ~ 5 slaves, which then ask you for something and unlock a new side-quest.
As for the gate itself, you unlock it with a quest a lot further west from the gate, as you travel with someone to the other side. After a few more main quests the gates unlock and you are free to travel in between (I think once you 'marked' your first chief or some such).
If none of this works, try Googling for the term 'walkthrough' or 'guide'. This is just 1 resource out of many online resources.
You can't click on the castle icon in your map to fast travel there? That's really odd