Yeah, the local map is and always has been terrible. (off-topic, but I think inventory management is always going to be a nightmare for games where you collect so much stuff, and it's not like Bethesda's earlier games were somehow better organized)
The worldmap is actually one of Bethesda's best - it actually shows the layout of the roads, and has better detail on height differences and whatnot. I find it funny that people complained about linear dungeons in Skyrim, then others complained about getting lost in Fallout 4's more nonlinear interiors.
Daggerfall's maps were detailed, but the controls and actually using it were an utter nightmare. It's especially fun when a quest sends you to some dungeon with a really long and hard to spell fantasy name, and you have to type it exactly into the search-bar to fast travel there.