As a matter of fact, planning is one of those few exceptional activities for which the process is far more important than the tangible outputs. Planning is about discovery, about determining unknowns and finding a way to get to the goal. Mere assembly of steps created without following the process does not constitute the plan but a wishlist. An unrealistic wishlist.
On the other hand, if you follow the process diligently, you can often skip the final step and not prepare the final document plan. For the untrained eye, it will look like a wild execution, but it will be still more professional than any other approach.
The situation is exactly the same for maps. A map is an output of a mapping process, which is pretty much like planning - about finding uncertainties, anticipating changes, assessing their impact and figuring out what to do.
If you are aware of your situation, you do not need a map.