There is no way to get directions without quest makers and even with them it's not always easy to get to done locations (not saying it should be easy). I've spent plenty of time running around cliffs or mountains looking for a way up/down to get to a marker.
An optimal situation would definitely be a map that has more options for you to mark and directions/clues given by npcs. Or something like Red Dead Redemption had, the map was marked with a large circle that showed you the general area your goal was in and it was up to you to get there and search the area.
Edit; forgot to add, quest makers for goals in three open world are ridiculous, a marker on the dungeon I need to enter is cool, but a marker on the exact item I need, npc I need to talk to or building I ned to enter is ridiculous and takes away a lot if challenge. It also discourages you from exploring the open world which is by far Skyrim's best feature.