i missed the map for the royal waterways in my first playthrough too, ha. and fog canyon's map is hard to get because the heart of that area is blocked off until you have one of two abilities
i have a pretty good memory though like, i wouldnt say i have the map memorized, but im pretty good about remembering which rooms are adjacent to the room im currently in. with the exception of crystal peak and the waterways which still throw me for a loop sometimes. and then there's deepnest, which has a big hole in the middle of it as i recall it, because i sort of mentally separate early deepnest and late deepnest and the rooms that connect them within deepnest totally dont exist to me in my brain
but when i did my second playthrough, i was pleased to find out that i vividly remembered where i acquired all the upgrades to my health and soul from my first playthrough, and that's been like a huge benefit when replaying the game as much as i have cuz i can keep mental tally of which ones ive gotten and which ones i have left
idk if you've gotten the dreamgate yet, but the seer gives it to you at 900 essence and its basically the travel gate in botw dlc and that might be useful to you if you ever feel lost/need to warp to safety for whatever reason. i usually leave mine at stag stations while in the middle of a playthrough but afterward i just plop it in mantis village cuz that's home