Authors note: While there are some good answers already, I wish to help you understand by explaining in a different way. I do agree with the other posts that there is no physical or chemical law to prevent a different, more straight-forward process.
Reason behind the glycolysis process
The reason why this process is as it is, is efficiency towards reaching the goal. And the goal is not to break down glucose to smaller molecules. The goal is to store energy in a carrier that can move through the body and is compatible with other biological processes.
The three bold words are key here. The body needs energy to perform various tasks such as muscle contractions (breathing, heart beat), cell growth, fighting bacteria and many more. It’s not handy to always generate the energy needed at the place where it is needed. Instead, we have energy carriers (most importantly ATP) that is produced in certain parts of our bodies and then distributed via the blood.
Energy in the body
Before I continue, you need to understand a bit about Gibbs free energy. As you mentioned, it determines the most energy-efficient way for a process from beginning state to end state. However, if you provide energy, the process can go the reverse direction just fine. So looking at Gibbs free energy only shows the process that is most likely to spontaneously occur under normal circumstances, but not in all circumstances.
Second in-between background info is that the energy in the body is transported using adenosine triphosphate (ATP) and adenosine diphosphate (ADP). Adding a phosphate group to ADP (which then becomes ATP) costs energy that can later be extracted by the reverse process.
Third is that energy availability in the body is limited. We have two major sources of energy: ATP and body heat. An ATP molecule will always provide a specific amount of energy, while body heat can provide from 0 up until a certain limit, depending on body temperature (this maximum is lower than ATP’s energy). Any process that needs more energy than ATP can provide will have to be broken down into separate smaller steps.
Back to glycolysis
With this background information in mind, we can explain the reason behind the (complex) glucolysis process better. From a Gibbs free energy point of view, we don’t need to go from high energy glucose to low-energy pyruvate as fast as possible. Instead, we need to do this in a way that has the most steps that provide the exact amount of energy needed to transform ADP into ATP.
As you can see in the image caption on the glucolysis page you linked, we need 1 glucose + 2 ATP, to generate 4 ATP. Why is the initial ATP needed? This is to get the specific break-down chain that allows 2*2 steps of energy extracting throughout the process. We need the initial energy investment to allow for in-between steps to happen, chemically speaking. Without this investment, you will not be able to form the intermediary molecules needed to give enough energy in order to store it in $\ce{ADP\bond{->}ATP}$.
Comparison to nuclear fusion/fission
I normally don’t like to make comparisons to unrelated subjects, but I think this one fits well enough to mention and hope you will understand it better with your physicist background. In nuclear fission and fusion, you determine possible nuclear decays and fusions by looking at the available energy and energy levels of an atom. And if we ask your original question here, we get the same answers as in chemistry.
- Is there anything preventing 6 hydrogens atoms fusing into a carbon atom?
- Is there anything preventing U-235 into splitting into 20 different atoms in a single step?
To the first: no, but it’s very unlikely that 6 atoms meet at the exact same time and with the correct amount of energy. And even if they did, carbon is not a stable atom without neutrons, so where do they come from? You need multiple steps to go from hydrogen to carbon…
To the second: No, nothing prevents this. But splitting of atoms goes via a set of strict rules regarding the stability and energy of the atoms and their radiation products. The start and end point may be clear, but there are almost always multiple in-between steps (example: decay chain of thorium. In the same way, chemistry has many rules for reactions and atom/electron rearrangements within a molecule, limiting how molecules can break apart or combine.
The part where this comparison goes wrong is that biology does not always lean towards the most energy-efficient solutions. Sometimes nature takes a complex, unefficient route for a different purpose, as in glycolysis.