我从另一个角度来解释。

我站在一块巨石上、巨石的左边或者巨石的右边。从我站的地方，我可以看到远处的一颗树。远处的树是动词see的宾语，此时需要from介词短语表示我的视线的发源处。

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock. From where I stood, I could see a big tree far away.

现在我们可以看出，from的宾语并不是巨石，而是相对于巨石的某个地方（巨石上，巨石左侧，巨石右侧）。所以from的宾语不可以用it, this 或that 来指代，因为it，this，that都只能指代巨石，而不能指代巨石的上方、左侧或右侧。但是，我们可以用指示副词there或者指示限定词that+place来指代on the rock, on the left/right of the rock, 即指代我站的地方。而there和that place可以做介词from的宾语。于是我们可以用there或that place取代上句中的where I stood：

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock. From there I could see a big tree far away.

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock. From that place I could see a big tree far away.

但不能说：

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock. From it/this/that I could see a big tree far away.(X)

下面我们将二个句子合并为一个含有非限制性定语从句的主从复合句。过程很简单：句号改为逗号，用关系副词where替换指示副词there，或用关系限定词which替换指示限定词that。这样我们就得到了二个定语从句：

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock, from where I could see a big tree far away.

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock, from which place I could see a big tree far away.

我们再从错误的句子出发，用关系代词which替换人称代词it或指示代词this/that, 同样得到一个错误的定语从句：

I stood on (top of) a huge rock/ on the left of a huge rock/ on the right of a huge rock, from which I could see a big tree far away. (X)

你的句子中虽然没有出现from where we stood. 但逻辑上是有这层关系的。所以，from where 或 from which place 引导定语从句是正确的。用 from which 为错误。逻辑错误导致的语法错误。