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If you're only in act 1 you should only have the bottom right of the map open to you.
If you explore with your army and you see a path that your army can't go down, that means it's something only your personal squad can explore, usually has some small side-objective like a point of interest, quest location, or crafting material spot at the end of it.
To be specific I'm trying to get my army to the fort west of Pulura's Falls. I haven't been to the Falls yet but I was trying to get my army to go around the nameless lake but at the 4-way dot just north of Blackwater the path leading southwest doesn't appear for them.
https://steamcommunity.com/sharedfiles/filedetails/?id=3003708948