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You can get a "holographic pad" from the Malugaz statue that lets you build boss scanners so you just need to explore the area around the boss to find the waypoints.
Though in Ocatarine tier (the next tier after Scarlet ore) you can build your own portals. Just make sure to stockpile mechanical parts from the merchant whenever he sells them.
Once malugaz is down finding bosses certainly becomes easier but the related waypoints still require a lot of wandering.
I do, however, agree that exploration needs some severe touching up. Made a thread about it meself.