The universal search is VERY powerful and I recommend using it. That is often my first step after logging in. When you click on the search bar once, you see content, people and places you recently interacted with. scroll down to get to places. It also has great autocomplete options, so you can start to type, again scroll down, and access what you are looking for.
Also, if you click the drop down next to your name, you can click to view Places (a name for all Spaces and Social Groups in the community) from your profile.