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Not if you have not unlocked them yet, which is what the OP is asking how to achieve.
To answer OP's question, you unlock them by going to one of these pipe-like things that glow purple, pressing E beside them unlocks a warp point.
Wether they're marked on the map or not i can't remember and can't check, since i have all of them already they do not show up anymore for whatever reason.
I also remember all of them being on rooftops, except for the one you start off with, of course, at least i think so.
They dont show up in the mission screen on the ARK, because you would use them to deploy there.
BUT if you open the Missions in the city, you schould see a aditional list of things in the city, and one of the points there is Warppoints. (I just selektet them there and could get the 4 beside the start without problems.)
Ah you mean that, good to know.
Can definitely confirm you do not need outposts to unlock warp points, as i haven't gotten any warp points for the longest time, but then grabbed all 4 in a row, basically within 5 minutes.
They didn't show up on my map until I beat legion outposts.
More warp points seemed to show up for me when I progress further into the story. For example, after Hammersmith's 2nd Encounter.