It's pretty unncessary I think but if a particular level gives you problems, why not have some fun playing cartographer? :) I remember that I was able memorise the layouts when I completed it years ago. I actually played it first after I bought the Dragon Edition of Ascension, which contained the Ultima collection (mid 2000 or so) Good times.
 
I'm pretty sure I had to use maps more than once on this game, but then I don't really mind doing it. You can always just try and trust your memory and see it that's enough to get the job done. The game is worth playing for sure.