To do this you need to decouple consciousness from bodies, which isn't possible with humans given that our consciousness grows along with our brains and everyone's structures are unique. But it is possible with artificial intelligence. Once consciousness has been digitized, you can beam it at the speed of light to a receiver.
You still need to physically install the receiver somewhere, which is why I said only most of space travel could be non-physical. But once that receiver is in place, you can beam information to it and construct bodies onsite at minimal cost.
This just seems like the kind of space travel the universe prefers, since it minimizes action. Energy is for travel, and matter is for staying put.
The stupendous amounts of energy required for warp travel just seem wasteful, when instead of adapting the universe to life we could adapt life to the universe.