Despite speaking out for the end of world maps, I gotta say Mirage nailed the whole myster/wonder factor. I can't say every world map FF gave me that feeling, but I totally relate to FFVII having the other continent and certain places you can see but just can't quite get to yet. Being able to change the camera from top-down to over-the shoulder probably had a little to do with that.
I do think it's possible for non-world map games to do it, though, particularly with DQVIII how there were so many nooks and crannies, many of which resulted in awesome equipment or memorable side content.