I'm not sure why the only place I can travel to outside of the city is the Keep. Everything else is gray even if it's on my map. Is there something I'm missing? Nalia keeps bugging me about going to save her family.

You must exit out of the city gates in order to access those other areas for the first time.

Nevermind. When I thought I was in the city gate area, I was actually between areas. It has been forever since I've played this game, haha.