Beacons are nice, but I wish there was a tab where you can disable certain ones from showing up on your hud, after marking a lot of stuff that isn't even available in the current early access version of the game (namely ores and drop pods requiring unobtainable resources), the names of the beacons and their icons merge together, creating this very hard to read blob of text.
But having a map like Ark does, were as you wonder about it fills itself in and it is displayed as an item you hold in your hand would be a good middle ground between a minimap and keeping the immersion of the game.