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https://www.grimtools.com/map/
(Clicking on one of the shrines or riftgates will bring you down to the more detailed local map view)
No it isn't open world, the majority of diablo-likes generally are not open world. It is 'mostly' linear tho there are a few spots where you can skip past content.
It's big enough that a first time player who insists on uncovering everything that he/she can will generally get 30-40 hours on the first playthru. There are plenty of 'off-path' secret spots with treasure littered throughout the game. It is unlikely that you will uncover them all your first time unless you are extremely diligent. I've played for thousands of hours and every once in a long while I find one that I didn't know of.. tho I think at this point I probably have found them all.
Never played sacred so, I don't know about that one but, it should be pretty decent from these type of games, as expected to be. Forgotten Gods will add a bit more.
in short it's an open world where theres nothing to do but grind unless you follow the linear story line path.
that said despite the fact that it is linear there are other things to do, like dungeons and secret area's/quests BUT this isn't skyrim where you can just wonder off the beaten path and jump into a random dungeon and explore.