In the case of PS I, I used no maps. This of course being 1991 when few to no people in my neck of the woods had a computer of any kind.

Let me tell you, Baya Malay and Medusa's Tower were a
nightmare. PS II, I used some maps for the dungeons, though I tend to find that the less time I spend going between a map and the game the more fun I have.
PS III had only occasional use of maps. This was mostly in the connecting tunnels to help make sure I found everything hidden in them. Lashute basement also required one because I couldn't be bothered exploring every path until I found the only one that led to Dark Force.
PS IV. Well pretty much the same as PS III. They helped me find all the little things I might have forgotten to pick up otherwise. I think the one time I looked up a map for getting about was in the first part of the Air Castle.