If we use Skyrim as an example, there are plenty of spaces to cross. Mountains, roads, beaches, forests.
Those are often littered with tiny points of interest. A cave, a shrine, a hunter. These exist to insure our journey is not simply "hold W for ten minutes" and almost never have any deeper value or chain to other objectives. They are points to define the space.
But then we have major POI: the cities. These draw us from vast distances.
We also have mission POI, to create more paths.