Some portions of the map are not completely displayed, including their points of interest. To reveal a map, you need to synchronize with Synchronization Points. These are important vantage points that reveals an entire area and enhances Ikaros’ perception range. When visiting a new territory, you should always prioritize climbing these points and perform a synchronization to improve the visibility of the area. To initiate a synchronization, you need to reach the highest point of the structure. The game will have an eagle marker pointing the exact spot that you should reach.
After synchronization, you can always perform a Leap of Faith which will allow your character to have a controlled, non-fatal fall to get down easily. Look for some bushes on the ground and hold X as you tilt towards it.