I have had the same piano teacher for a couple of years, and I am currently working on the Bach inventions. But I feel there is something missing from my lessons, I am used to setting goals and mapping a path on how to get there. In discussions with another piano teacher I have found out that I have been missing out on a lot of the basic structure needed to succeed. I am not getting much exposure to scales, hannon or just basic music theory which surprised this piano teacher I was talking to.
My question is what should I be setting for goals for 1 year / 2 year / 5 years and what should I integrate into my time to get there. Typically I practice for two hours / night, I spend most of my time working on the "next" piece. How should I be scheduling my time to avoid such an insulary approach, should I be doing scales and hannon (I know that is a bad word in this forum). Or are there other exercises I should be working on.
Yes, setting goals and mapping a path is essential.
However I would like to point out that not every map will take you to the top of the mountain, and some maps will go through very bad places.
I am intrigued by this sentence:
“I have found out that I have been missing out on a lot of the basic structure needed to succeed.”
I would be very interested is what exactly is this “basic structure needed to succeed”.
Then you mention scales and Hanon. Scales are extremely important, but not for the reason most people assume them to be. Have a look here where there is a detailed discussion of this issue:
https://pianoforum.net/smf/index.php/topic,2429.msg21061.html#msg21061(Technical studies x pieces – genesis of Studies and how Czerny derived his exercises from Beethoven sonatas - why scales are useless and at the same time essential – Chopin x Kalkbrenner story – Unorthodox fingering for scales).
https://pianoforum.net/smf/index.php/topic,2533.msg21955.html#msg21955(structured plan to learn scales and arpeggios – includes description of repeated note-groups and other tricks)
https://pianoforum.net/smf/index.php/topic,2619.msg22756.html#msg22756(unorthodox fingering for all major and minor scales plus explanation)
https://pianoforum.net/smf/index.php/topic,2701.msg23134.html#msg23134(Teaching scales – the cluster method and why one should start with B major).
https://pianoforum.net/smf/index.php/topic,2758.msg23889.html#msg23889(scales & compositions – the real importance of scales is to develop the concept of key, not exercise)
Hanon should be avoided like the plague (not that everyone agrees with me

). To get the gist of this polemic subject, have a look here:
https://pianoforum.net/smf/index.php/topic,2998.msg26268.html#msg26268(Scales HT, why? – why and when to practise scales HS and HT – Pragmatical x logical way of teaching – analogy with aikido – list of piano techniques – DVORAK – realistic x sports martial arts – technique and how to acquire it by solving technical problems – Hanon and why it should be avoided - Lemmings)
https://pianoforum.net/smf/index.php/topic,4082.msg37362.html#msg37362(one cannot learn technique in a vacuum. At the same time one cannot simply play pieces – comparison with tennis)
https://pianoforum.net/smf/index.php/topic,4182.msg38775.html#msg38775(Hanon: pros and cons)
https://pianoforum.net/smf/index.php/topic,5352.msg50998.html#msg50998(Exercises x repertory – why technique cannot be isolated from music)
I believe that any pianist’s goal should be the acquisition of repertory. Once you decide on your repertory, the repertory will guide you towards whatever is it that you may need to master it. Have a look here for some further discussion on this subject:
https://pianoforum.net/smf/index.php/topic,2526.msg21829.html#msg21829(how to organise piano practise in short/medium/long term – Principle of memory retention – Principle of 15 minute sessions – stopping when you achieve your goals. Teachers should teach how to learn)
https://pianoforum.net/smf/index.php/topic,4734.msg44770.html#msg44770(how to acquire virtuoso technique – aiming at 100 pieces in five years)
Finally, from the very little information you supplied, I already like your teacher: s/he is not giving you Hanon, and s/he is giving you Bach 2-voice inventions. Wonderful!

This,of course, is just the tip of the iceberg.

Best wishes,
Bernhard.