Open your map in Starfield and you won't see much more than a height map, even in cities. If you want to then travel around, you're limited to walking huge distances when on planet surfaces and using fast travel spaceship hops when in outerspace.
Both these things might change next year, as Bethesda have teased that they're working on "many new features" that players have asked for, including city maps and "new ways of traveling".
