Yes, it's called the 'aethernet', and is a free mini-teleportation system within each city. Find the small aetherytes scattered at points in each city, and they allow you to travel to and from them and the main aetheryte. Attuning to all the aethernet shards allows you to also use it to teleport directly to outside the city's main gates as well, but this doesn't work in reverse sadly. In any event, after attuning to an aethernet crystal, click on it to teleport to another aethernet crystal, or from the main city's aetheryte, click on it and select 'aethernet' (the top option), and then the location of the aethernet crystal you want to teleport to.