you'll get a map soon enough when you actually need it. did you get the squirrel from behind the tree when you went to get Nanami? If not, you can get him near the Muse/Greenhill border; just have an open slot in your group.

You can push the door from the Muse/Matilda border off the hinges and go somewhere you aren't supposed to early on. You'll grab two dudes there that'll help kill the monsters and you'll gain about thirty levels in ten minutes along with getting 3/4 of the Bright Shield and 4/4 of the Black Sword spells. But don't do it!