The problem with this is that World Maps were designed as game lengtheners for early RPG games, to (as previously stated) give a sense of scale and make it easier for Devs to create a huge world without having to create loads of scale maps to trawl through. Even games that don't use Random Encounters, like Chrono Trigger, have a basic World Map to give you a sense of travelling from one place to another.
Having said that, I always find that the Zelda style of having a small, contained world map with lots of scope to revisit areas with new weapons/abilities is actually more rewarding. Some of the larger scope games in the 16-bit era had loads of villages, but the Devs got bored after a while and just left them quite barren. Who can forget Secret of Mana's Gold Island? Lovely, unique map design, great theme tune...NOTHING TO DO AT ALL. Barely even any NPCs worth talking to. I wouldn't allow that into my little RPGM hobby game, let alone a full-price release. I always hated that you could go into houses in that era of games and there'd be no-one in there, and not even any items to find. Why even go in there? There's no reward.
If I could give any advice to budding RPG makers, it would be, take your time with each area. Don't rush forward, as tempting as it is. Craft each town, each dungeon, lovingly. That's one lesson I've learned the hard way in my time of RPG making. It'll take longer, but you're creating something which a potential player will explore and learn to love. If you do implement a world map, keep it contained, or keep the Random encounter rate low - no-one wants to have to fight every three steps. Make sure there are plenty of side areas to visit for viable rewards, and yes, implement quick travel. It doesn't even have to be brought in late in the game - Xenoblade lets you Quick travel from the start of the game and it doesn't ruin anything.
Remember - this is a GAME. It's supposed to be fun to play, not a chore. Too many JRPGs rewarded consumers by punishing them, even many of the big name games. Considering that we're mostly giving these games away for free, you need to make them accesible for the player.
I'll shut up now, as I've said me tuppence worth. Haha!...