I did a quick search and came up with this.
https://brytedarklyt.tumblr.com/post...related_post=1
So if this is true (even with the source link), it does seem like Yoshi-P is indeed giving his blessings to RPers who are just simple adventurer's to be able to travel to the first and back to the source.
The question now becomes though that despite yes, even though Yoshi-P supports the idea of normal adventurer's going to the first and back because it is all about making the players own fun, will the RP community be able to accept it and move on or still throw in the excuse of 'but the story says x and y'
Even though I know in RP it is all about having fun and creating a character you enjoy within reason of course (not like x character is the son of these two named NPC's but was actually adopted and y is their father), but I seen new RPers and those wanting to get into it put off because of how fractured the community can be.
Edit: First link I looked at also had to do with the topic and seemed the discussion was more pointed at the question being asked for lore purposes and it wasn't really an answer other than 'RP how you want and not worry about what others think'