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the things you want to 100% before moving between maps, are infestations and nero sites. bounty hunting is a good thing to complete as well. especially your stamina and health from nero injectors.
hordes are only later in the story, after you return north. once you get better guns, it gets easier to clear hordes.
It doesn’t ever return to full map unlesss you mean after you beat the game.
It goes north map, south map, north map, beat the game, full map.
To answer OP, once you return to north map the game will show you where all hordes can possibly be, and the trust/rewards from each. I personally didn’t do any hordes purposefully until after I returned to north map, OR, if the horde was protecting a nero injector.