A RPG at least needs some kind of world map, yeah. I really like FFX, and even its world map is satisfying, somehow.
The funny thing is, before FFXIII was released, I thought that world maps weren't important. I kept reading the previews of FFXIII, and since many people compared it to FFX, I was convinced I would enjoy the ride. Sadly, I didn't. FFXIII is nothing like FFX.
Still, what kills FFXIII IMO isn't its lack of a world map, but its lack of a good story combined with actual gameplay meat. It also doesn't help that there are not many things you can do, in battle, except the usual "Buff/Debuff, stagger the enemy, then unleash full power". And it gets tiring after a while. I also don't like the fact that they're going with a more Action-RPG approach (I like to sit back and take my time, when I play a RPG - I hate button mashers like Kingdom Hearts & co).
Anyways, I'd love a world map reminiscing of IV, V, VI, VII, VIII and IX to come back - but I don't see Square making this U-turn, since they're more worried about realism nowadays.