If we don't listen and our environment knowledge is low, we'll have to find the next area by using more visual que's and basically using our instincts to find the area ourselves based on our(the player's) memory.
If we have good geography skills, our master's conversation will be applied to a map and we can find the direction easily because of our familiarity with the environment. I guess we could raise that familiarity by just getting lost and finding our way.
Of course there should be a basic set up. I'm sure as a ninja clan you would be weary of enemy territory and ally territory. So by traveling through these territories on our free time without getting caught, you can build up a world map. If you haven't been there before, you will have to find your way on your own. It's like an open world tenchu with a stealth element.
The forests and jungles between villages and castles aren't safe. By traversing them on your free time outside of missions, you learn about the environment so when the time comes to travel to a distant location, you know how to get there no problem. Ya know?
If you don't do this, there's no punishment. You will just have to learn your way through the jungles the hard way. Maybe if you do it in the day time there's less hostiles around. At night however you have to worry about gaurds(your own and the enemy's). There should be secret items around in the day time to as a double reward for visiting on your own time.








