A world map can either hinder or compliment the game, lore, and/or story. If you want wide exploration with possibly various points of interest filled with sidequests, a world map may be your thing, but it also depends what kind of world map. There's at least 2 types of world maps that I've seen: Point by Point(plotting points of interest) world maps(Breath of Fire IV, Atelier Dusk Series, etc), and fully explorable world maps(Final Fantasy, Tales of, etc).
As for the 2 types of world maps, it all depends how you want exploration to be executed. The point by point world map gives you an overview of the whole world, but you're limited to the points of interesting(following a line to the next areas). Though it is limiting, you can have prerequisites to how new places/new lines open up to new places. Say for instance you explore a supposed dead-end area. After completing said requisites(defeat all types of enemies in the vicinity or gather items, etc), a new point of interest opens up on your world map. This can aid in exploration if your goal in-game is to also explore and find possible new places. This also allows the player to have no knowledge that the next place is a new dungeon or new town until they reach it(you can plot city points before hand so they know it's a city). Hidden points of interest(usually obvious if drawn on the world map), can be hidden by clouds and uncovered when/if it's part of the story or a sidequest. The drawback to this world map is the player may feel too limited to only the points of interest. Some players may not like having to explore every new point to unlock the next. In summary, a point by point world map can be great for explorers of the unknown or if the protagonist has never explored the land. It gives a sense of wanting to explore and allows players who love exploring to do so in order to open up new places.
A fully explorable world map like the older Tales of Games, and Final Fantasy, can be great if your game spans more than 1 continent or if your continent is large enough. It allows the player to have a sense of exploration, but also as a fresh explorer. Some drawbacks of the world map is having too open of a map that some places may not be available to the player if they attempt to go their early(you have to get from town A to dungeon B, but town C and dungeon F can be accessible). Of course, you can counter it with a guard or some sort of small event that tells the player that you can't go there; or having too of a restricted world map that looks almost unnatural(FInal Fantasy with the mountains curving around a path, usually telling you you HAVE to get to point A to point B or point B.1). In summary, if you want a large world with easily explorable lands and less maps, this is your go to. If you don't mind the player going to a later dungeon or finding a cave that possibly is optional, then this is your go to. It allows the player to have a sense of exploring the whole world to find interesting nooks and crannies.
A Zelda-esque map can be quite fun if executed correctly. Exploration and getting from point A to point B can be a little tricky or boring if the game maps get a little tedious or if the maps all look the same(Tales of Xillia I'm looking at you.). With Zelda-esque maps, you'll want to make it fun and have various maps that have something you can get early or get later with certain tricks that your character may have learned or tools you've obtained, or you can just go the straightforward route and connect point A to point B with 2-3 maps. In summary, a map like Zelda's should have various nooks and crannies that you can explore, but add interest to the player rather than hinder their ability to get from point A to point B. Tediousness can hinder the player as well, or if the character has to backtrack, it will be a problem(unless you have an ability or save point that can have the player travel back to towns and dungeons).
In conclusion, it all boils down to how you want to execute the game and what you bring and offer. A game with bad world maps and exploration can lead to players with a disinterest of it and wanting to hurry to get to point A to point B. A world map should also allow the player to interact with, rather than to only be there. For instance a world map can have gathering points(Tales of the Abyss), or treasure chests lain out. It's all about exploring and finding, which is what a world map is all about. Just be careful not to overdo(or play down) it to the point of having an open world map restrict the player to get to ONLY point A to point B(or having all of points A thru Z already accessible) or have a Zelda-esque game where wide, wide maps are empty(or too cramped).