Visit is usually transitive, but it can be intransitive in rare and literary contexts. For your purposes, just avoid using it. Stick to "The place that I visited" or "The place which I visited" or even just "The place I visited." Just to clarify Transitive: I visit him from time to time. Intransitive: I visit from time to time. (this is honestly pretty natural) Here is an example of a somewhat natural sentence with where: "I went into the house, where I visited often in the evenings."