So I am in the minority that it doesn't need maps? When I reach a new flag, instead of resting, I go back and make sure I didn't miss any route since the last flag. As the enemies stay dead ubtil you rest, it is easy to search and ensure nothing was missed. It isn't hard and it makes the exploration more fun. If you had maps, you would see how simple these areas actually are.
Currently playing - Clair Obscur: Expedition 33