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Auto map by far. I haven't played Zelda but I disliked it in Far Cry 3/4. It was like something you needed to go do before you could do what you really wanted. Of course, I hate platforming in FPS games, so that was another mark against it for me.

One thing I really like is when an icon is added to your map by way of quest (or whatever) but isn't filled in until you've been there.