i would like the idea of chapter as checkpoints, after you beat the game, you can replay them.

for example: chapter 14 ancient cistern. by opening that menu, you could start immediately on ancient cistern. there would be a high score of time, items collected, enemies defeated, etc.

but the reason why they didn't include chapters is because they wanted to make it less linear, and let you decide what order you want to do certain things such as the side quest of rescuing the girl from the pedophile