Do you have to map?

[Malfucius]

Do you have to manually fill in the map, or can you ignore that feature?

[魔装機神 Psybuster]

There is an autofill setting in the options, though I believe it doesn't fill in things like treasure boxes and such. That said, it is not required to make a map beyond the initial tutorial area, but you will absolutely WANT to make a map, and it's a large part of the spirit behind the game's creation in terms of capturing the feeling of old Wizardry.

[Penghis Khan]

Do you HAVE to? No.

I highly recommend it though. You live and die by your map making, and it's one of the core features of the games.

[Sharticus:DestroyerOfToilets]

Make your own maps. Automapping removes a core feature that the entire series is known and adored for.