Going through Saints Row II now, the main plot/characters are endearing and have you hooked, but from open world/exploration it does everything wrong..like it's designed by people who thoroughly
hate exploration. Or simply have no clue what it is about.
From Unity:
Wasted effort of artists/world designers because of this retarded "activities/checklist" design (hoping after Zelda, the press( and the players) finally hammer down on this).
Take a look at your own map, history, look at architecture, characters that you have in location and ask yourself how do we connect them and leave for player to discover. In 2077 exploration should be all about strong world building...Night City a place with hundreds of stories to tell, at least half of them only discovered throughout the world, with no "gamey" guidance and outside of existing questlines.
Puzzle element that relies on combined recognition should also play a role here. Simple example: delirious homeless person give a few creds to, you can hear chanting some mad riddle, every now and then. Most ignore it, but you decide to pay attention and end up discovering hidden location not far that fits the description, a rare weapon mod cache and some insight about this person's history.
Or a hidden object in environment ( like say, finding a wallet) that hints to another location, ( you notice a bar card to a place person frequently visits), then to another and so on.
Each of Night City's streets/locations could be filled with these kind of exploration "quests/chains" designed around object discovery, audio/visual cues, environment recognition, puzzle solving and worldbuilding( between map and history, characters and locations), leading the player to more "intuitively" learn about the layout of the place.
At the end of the day, player would realize you've been "tricked" by the developers. You now know the place inside out and no longer need any kind of mini-map for travelling.