I'm loving it too, 40 hours in. I don't understand why there aren't more games like Dark Souls. Instead, every action rpg has the stupid minimap with question marks and other 'landmarks' along with boring, shallow combat(even good games like Witcher).
I too don't like minimaps but unfortunately the dialogue in most games leaves you with little choice but to use one tbh. Most objecives are along the lines of 'speak to xxxx in this town' for example, you need some direction otherwise you are just stumbling around randomly which is pretty ridiculous.(pwrsonally I think the compass in fallout/ES is a pretty decent solution most times)
I remember playing, I think it was Divinity original sin, a character gives you a quest to go to their house and that is it... I'm sitting there thinking 'well, are you going to tell me where it is then?' I assume they know where there own house is, or do they want me to guess!
This is an area where this series excels. Not just well thought out areas, but the dialogue often gives you direction. Take DS for example, you are told to ring 2 bells and roughly where to ring them. When you've done that it's Anor Londo through Sens Fortress. It isn't marked on your map at all times, it is done through easy to follow dialogue and that is by far the best way to do it. In games with more specific objectives though you do need some kind of map otherwise it is just ridiculous,as the info is rarely given through unfortunately