I think the Metroid series has handled map revealing the best of any free roam game to date. Have stations (preferably ones that aren't a pain to reach) that reveal the general layout of the area, but don't indicate any important places. Alternatively, the player can simply have the terrain revealed with an auto updating map. Encourages exploration without leaving the player completely in the dark as to what they'll encounter, while still benefitting people who explore without finding the map station.

The game gives you the option, you don't have to use the towers, the important places you go to still get marked in the map, so you could just don't activate any tower.

As for me, I don't see how it hurts the game at all because it unlocks a mostly empty map, so I only see terrain but have no clue of what I'm going to find on that terrain, only the names of some zones.

I really like the implementation of maps in BotW. I've mentioned it before, but it feels like a modern version of the Man-Fish from Wind Waker. If you don't want a map, its completely optional, if you do, then you still get the joy of exploring the areas. I went ahead and got all the towers right away, so I could more easily pin point locations i want to visit. Past that, I'm in full control of how I explore the lakes, forests etc. that my map details.

Also, I can geek out over the location names being nods to previous Zelda games, so losing that would make me a sad Boom.

You can see every tree and puddle, enemy camp layouts, likely places for Koroks, mini boss encounter areas, guardians, springs, maze layout and other important features. Maybe the first few zones it seems like an empty map, yet after a while it's a big spoiler.

Anyway I completed exploring Akela first before heading up to the tower (nice one to sneak on to) and my mental map was pretty accurate albeit 45 degrees rotated compared to the actual map. I still rather have an automap then no map, the flame carrying quest was a bit confusing to find the way back in the dark and rain.

You can if you try hard, because I didn't even know you could find such level of detail after 75 hours of gameplay and, as I said, the game is giving you options, no tower is needed, and still most things to discover are not visible no matter how hard you look, this is not comparable at all with the towers that fill the map with marks in other games, after unlocking the map here I see only terrain and I'm clueless of what I'm gonna find there and I don't stop to study the map inch by inch since I get no fun doing that.

This system is good because if you really need a map you can have it but is not gonna hold your hand once you have it and you need to do things in order to get it, and if you want to be completely blind you can just ignore them or activate the towers only when you think you have already explored the zone. Personally towers are never my main objective. 

Perhaps I'm too good at reading maps :p (It was my work for several decades)

After a while you get used to the game language and wether there are markers or not doesn't really make a difference anymore, hence I switched to ignoring the rest of the map towers. I like to climb a hill and discover what's on the other side without a map already having showed me what to expect. The option of automapping would be good to have. Towers don't have to go but it would be nice to have the other option too. Plus why no have more of a sketched map or atistic impression from map towers while automap fills in the actual google sat view detail. RPGs used to come with a cool hand drawn cloth map for a general layout while in game you gradually uncover the exact detail. That was perfect.

That's a great idea, I would like it. However, this is a pretty demanding game for people that is not very into gaming, I think having the chance to have a map to at aleast have more feeling of direction, can help more casual players, if you really need it you can analize the map and find points of interest, the map still doesn't hold your hands as there is no marks, and you still need to make an effort to get the map, but is an option better than desperation and desorientation so I would keep this, but there is nothing wrong with having more options I guess. Personally I like to play the game like you but I haven't found the way maps unlock to be an obstacle since I don't analyzed them so much and I rarely go to the towers until I have explored the zone.

I felt the same way while playing Horizon. The towers themselves are great, probably the best implementation of the concept I've seen. They all present a fun (and sometimes unique) challenge, the eventual climb was quick and entertaining, and they don't overstay their welcome. Once i had the 'reward' though, i almost wished i hadn't done it. Some of my drive to explore the area had drained away, and it felt like i should just move on to the next area.

After the first 3 i just stopped climbing them, and opted for more organic exploration. The absence of any reward at all actually made me enjoy the final 2 towers more. I knew i was there because it was fun, rather than because i'd get to see more of a map i'd then not bother exploring properly.

I sort of agree..

You have to go through sometimes large portions of an uncharted map just to get to the tower where automapping would be much better

It's the whole experience.  It's a perfectly executed piece of gaming.  Reasons:

- The towers themselves are presented as mystical, magical. They are a special object visible from a distance, a goal you want to achieve. 

-Each one is unique and presents a different challenge to reach. At first you think you just need to climb them, but then you find the puzzles are growing.

-The views are stunning giving you a chance to soak up the amazing visuals of the game.

-The views are also done in such a way as to preview the province you are exploring, with special places jumping out at you.

-The pacing of the climbing is just right, and the moment you reach the top handled perfectly with the camera.

-The music for these scenes is absolutely on point, giving a truly magical feel as you stair up at the stars, about to have ancient secrets revealed.

-I wouldn't want a different reward. Items are found elsewhere.  In a game about exploration, few things can top getting a map.

All in all, one thing that Breath does exceptionally well is variety and changing of pace. Exploration, combat, shrine puzzles...all done so well and all providing different experiences.  The towers are one of these,  with the pace being slow, methodical and magical.  They remind me a bit of the opening of Game of Thrones: start of a new episode with great music and if you look close a preview of what's to come in that chapter. 

The only thing I might change would be the hybrid option suggested earlier, where the map would be revealed by the tower, but maybe in black and white and is only filled in colour as you explore.