Red Dead Redemption did a bit of that. I wasn't overly fond of the game itself, but they actually did have maps for some things. Most traveling was done by just following someone somewhere, but there were occasional treasure maps that gave you visual clues as to where the treasure was buried. It made me actually notice the scenery instead of just thinking of it as a non-interactive object that is just there.

Since we are on the topic of the Elder Scrolls as well, something I did very early on in Skyrim (because I started to feel the repetition of chasing the quest marker around the world) was try and use the map as little as possible, and start unmarking quests that I was working on. I would use the world map to get a general bearing of where I was going, but besides that I was on my own. I actually used the roads instead of just cutting in a straight line towards my target because I needed the help of the street signs. It felt so.. real.