I think this concept is pretty great, the beacon system is a really smart way to handle the exploration / navigation aspects however I think that it might need to be paired with some kind of map overview system to be more useful, seeing the beacons in a map would be really handy!
Reminded me of my fun (and sometimes painful) adventures in minecraft’s cave systems haha.
The gameplay is a bit tricky, I think coins and gems would be better if they were auto collected and had larger hitboxes but generally a really solid concept! :]