Design is relative. The things you're complaining about are an intentional part of the design. Souls games aren't intended to work like a theme park where you're naturally guided from one section to the next and each area is clearly sign-posted with height restrictions and directions. It's fully intended that you'll get lost, learn by trial and error, and die during the process. This design works hand-in-hand with the game's atmosphere, lore and enemy encounters to create a sense of foreboding, hopelessness, and insignificance which is germane to the game's appeal: victory feels earned. You're not a superhero, or a demi-god, or a decorated combat veteran, you're a complete dreg with a snapped sword and tattered armor and your success relies on determination, skill, and ingenuity.
That's not bad design, it's masterclass design. Like a good mentor, it encourages you to learn by doing, doesn't attempt to guard you from mistakes and rewards curiosity, experimentation and attentiveness.