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Short story long, none* of the enemies are on your map. Much like the bandits/peasants up on the ground level any enemy camps you find by digging up or down are random and do not count towards your Minor/Major enemies. Even though there are a few enemies under your dungeon that may qualify as a Major enemy. You'll know them when you see them... and they murder your scout.
*There is a game setting/mod (maybe?) that makes all enemies on one large continuous map. In that case just look for the big question marks on the map.
And while I think of it, so do I instead of just digging tunnels toward ore and question marks, should start ordering large swaths of area be dug out above and below ground until I locate baddies? Obviously in a manor where I slowly remove the "fog of war"?
On other maps and underground.
You might find a few mushrooms or empty caves, but those don't really do anything.
I assume "scout" is just the units he brought to look what exactly is on the enemies map.
You reach them via the world map. Those are set.
There can also be some other smaller villain camps on the same map as the main villains.
Similarly you can find additional minor villains when you dig down or up. Those are usually randomly generated, but there are some preset ones. You don't need to interact with them to win the game though.
All of them are shown with question marks, so once you are on the same map as they are, either through traveling via the world map or digging, you know exactly where they are.
So digging randomly on a map usually doesn't do anything.
At least I haven't found anything. At least if I remember everything correctly. Haven't played in a while.
Mostly the random enemy camps you find by digging are good for some random resources and some experience. Or corpses for the necromancer. Only the enemies on the world map count towards winning the game.
https://steamcommunity.com/sharedfiles/filedetails/?id=2926200915
When you select a unit and control them, and hit the T key you'll get the travel menu, like so:
https://steamcommunity.com/sharedfiles/filedetails/?id=2926200952
Click on one of the enemy icons and you'll get a travel option. Edit: you can only travel to the ones with the yellow border, which are in your range. A red border means that enemy is actively hostile and may come visit you.
Instead of using the T key you can also walk into the grayed out border of your game map:
https://steamcommunity.com/sharedfiles/filedetails/?id=2926200934
How many Z-levels you can dig down into and explore is up to your patience and your PC. The game will get slower and may run into issues if you go too deep, but theoretically you can go down thousands of floors. My personal record was around 200 floors or so if I remember right.
Like on that second screenshot I posted, if I clicked on the nearest harpies, ants, or hydra camp and clicked confirm my controlled units would go there (as a second new map). You have to be mind controlling a unit, or leading a party. If you drop control they return to your base map.
I'd recommend watching a few Youtube videos or something. Look up Splattercat, he has a few tutorial/introduction videos where he helps explain things better than I can.