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Pick something with more islands and water on the map, perhaps, to limit it more.
Also, keep in mind that the map size that is the biggest is just 'standard' right now. If the Large and Huge maps are big enough, maybe it will be less of a problem once you can play on those instead?
Realistically though I think it should be very limited in the ancient era for obvious reasons. History is full of people discovering people that were really quite close for hundreds of years. Rumors and stories told of people far away but that did not drive people to get up from safe and established lives to go look unless there was something to gain.
You must admit, this speedy exposure is ridiculous. Even on island with with more water you can put a scout in the ocean and expose just as much after researching sailing. One of the first techs.
Yeah well, your civs were not smart enough to figure out how cross the ocean... but you can always play on bigger maps and that will take a bit longer to explore probably.
Can find the mod(s) here: https://forums.civfanatics.com/resources/categories/civ7-maps-and-map-scripts.184/
I usually go 3 scouts at start and scout pretty aggressively, but my scouts are also often forced back and made to wait or try and circle around due to hostile independents. So in 3 games only 1 of them was fully explored by turn 40. Second game was more like turn 50 and this last game had some fog as late as turn 100 something. Three. Three hostile independents all forming a triangle blocking me from going south. Actually if you count the one I befriended to my south east there were 4 of them. And they had boats so I couldn't even embark all the way around to dodge them. Turns out Pachy was hidden behind them. And I didn't get nearly as many goodie huts as I like that game, because the south wasn't the only problem direction. Actually at the start of the exploration age I still have fog on my homeland. Which annoys me.