Fraggle Rock: The Animated Series (1987)

S1E10 Gobo's Song

Gobo starts to have doubts about the significance of creating maps, prompting a visit from Cantus the Minstrel. In a magical moment, Cantus puts Gobo into a trance, and he finds himself transported back to the prehistoric era of Fraggles. There, Gobo encounters the ancient versions of his four friends and forms new bonds with them.