Maps should be like how Thief did it. Drawn, a rough outline of the area, but still open to being wrong.
Yes, absolutely. There are no better maps than Thief's maps. Depending on location they can be cryptic (WTF is that Lost City map?!?) or missing areas (all the question marks and haphazardly filled in areas in the Bonehoard map, or Contantine's manor only having the outer hallways mapped and the inner areas not mapped, etc), but sometimes they're very complete (a lot of Thief 2's mansion and city maps) and give you a good overview of the area. They help you find your rough orientation,
or they contribute to your disorientation in the case of only partially filled or outdated maps. They also increase the immersion because they're not some abstact UI element, but a concrete part of the game's world. An old map you found in a library, a hand-drawn map given to you by a servant who works in the manor, etc. Even Thief 2's automaps that fill themselves as you explore the level have that immersive element, as the way they work feels very much like Garrett filling in the map as he explores the place. They still have a very hand-drawn quality, and there's always some hand-written scribblings on them, often with question marks because whoever drew the map wasn't entirely sure about everything.
This is just absolute 10/10 stuff. It helps you get your basic bearings, but still leaves an air of mystery about the place rather than spoiling everything for you.
Now that's what I call proper maps.
Exploring Morrowind using its paper map is also great fun. The paper map of Morrowind has so many little details drawn into it, including little crosses in the sea where shipwrecks are located.
Every little detail drawn in this map is an actual thing existing in-game. Using this map as an exploration guide is fucking awesome.
Morrowind also had a minimap, but no quest markers whatsoever. It was mostly a tool to find your location in the world and plan a route to your destination. Questgivers would give you detailed descriptions on how to reach your destination. In many cases they wouldn't even mark it on your map since the dungeon doesn't have a map marker, only major cities and ruins had markers on Morrowind's in-game world map. And then there are the cryptic oracle quests of the Imperial Cult, where the oracle would describe a location to you based on its geographical features and you'd have to find that place and get a unique item from there. 10/10, this is how cryptic exploraiton quests should be designed.
A compass is fine, as all a compass does is tell you which direction you are facing. It actually helps you find your bearings, especially when combined with a Morrowind or Thief style paper map. You look at your surroundings, compare them to the map, determine that the location you want to go to is in the north, so you point your compass north and go that way.
Minimaps can be acceptable if they're minimalist enough. Morrowind's is okay. The one in Elex is okay, too - I've been playing Elex recently and the minimap is totally fine, it just shows you the direction you're facing (in-built compass), nearby enemies if they are currently attacking you or you invested a point into a skill that shows all nearby hostiles on the map (very good decision to lock this behind a skill, rather than just showing red blips on your map by default as if it were a radar), and quest markers. I don't like quest markers in general but at least Elex only marks quests and not other things. Dungeons and ruins are found by stumbling upon them while exploring. It doesn't mark them in any way, unlike the recent Elder Scrolls games. Therefore, exploration actually feels like exploration as you constantly discover new locations you didn't know existed.
When markers are used excessively, they completely ruin a game's exploration. In recent Bethesda games, all you do is follow those little blips on your compass. There's a dungeon nearby? It's shown on your compass as soon as you get close enough, and "close enough" is a pretty fair distance usually. You're not really exploring in those games, you are just following the direction of the markers. In Morrowind, I would often get sidetracked by spotting a dungeon entrance next to the road, or would wonder how to even get to the location described to me in a quest. Wait, was the dungeon north or south of town? And am I even in the correct town? The game allowed you to get lost wandering the world, and it felt amazing. Every location you found was a true discovery.
When you add markers for literally everything, this sense of exploration and discovery is gone. You can't get lost in the world, because there's always a pointer in your interface showing you the nearest location of interest. Even worse, those markers train you to look at your interface elements all the time, rather than looking at the
actual fucking world around you. Morrowind, Gothic, Ultima Underworld, Thief - they all encourage you to look into the environment and pay attention to your surroundings. But a game with excessive markers encourages you to stare at your minimap or your compass all the time, because that's where the markers will pop up. You're not actually looking at the gameworld, finding your bearings and exploring your surroundings. You're looking at an interface element and follow its instructions.
Markers kill exploration. Death to markers.