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Every battle, this is always the first thing I must do at the beginning of my turn. After selecting a unit, you can press L1 to display a useful mini-map. This is basically a necessity, and I don't know why Sega wouldn't just make it already there to begin with. Even worse is that, in its place, there is a simple prompt telling you that pressing L1 opens up the map. Instead of having that prompt, why not just put the map there in the first place? It's not like the map is even that big relative to the screen or blocks any important information.
Why are you asking? No one on this board worked on the game, so they couldn't give you that information. Perhaps they thought some people would rather play without the mini map, who knows. But it's one button press, who cares.