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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.