Traveling between the planes is not as easy as walking across a state boundry, but it is far from impossible. There are many known and locally managed portals connecting all three planes together. Below are the known ways that individuals can travel between the planes.
Portals and Teleportation Circles
The only way to travel between the planes without powerful spellcasting is by traveling through a pre-existing portal. Some portals have been created long ago by powerful mages and remain permanent openings between the planes, and others are constantly maintained by either mages or powerful artifacts and can be shut down / managed by the plane's inhabitants.
Immortals beware, any portals that open to Rubicon from an outer plane will leak mortality; most immortal inhabitants don't intend on going near these portals anyway, but this detail makes them dangerous locations within Heaven or Hell.
There are several major locations for permanent portals. I will list the accessable permanent portal locations here once a map has been created, and explain how they are run and what life is like near these portals.
Word of Recall
The 6th level spell Word of Recall can be used to teleport up to six willing creatures (yourself and five others) to a pre-designated location. This location can be on any plane. This spell is often used for small Heavenly or Hellish war parties or spies to quickly escape a bad situation or return to their base of operations on their home plane. Since this spell relies on a patron's power, however, it is not the most flexible solution and can fail those that are disloyal. See the full spell description here:
Word of Recall
Plane Shift
The 7th level spell Plane Shift is the most common spellcasting method for planar travel. A 7th level spell is nothing to scoff at, but it is easier to cast than the spell Gate and functions similarly. You can describe a location and the spell will land you at or near that location, making it a very flexible teleportation option. Metal tuning rods attuned to all three planes can be bought, but depending on where you are buying See the full spell description here:
Plane Shift
Gate
The 9th level spell Gate is capable of creating a portal between planes. This portal lasts only a minute, but it is very flexible on where the caster can open the portal. Similarly to Plane Shift, you can be very specific about the location of the portal, even being as specific as asking to open the portal to a specific creature wherever they are. The spell is the maximum level for any normal caster, but it is extremely versatile. See the full spell description here:
Gate
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