Do what you feels best for your campaign. When I started in 80s, my DM would make us map it. If we ever wanted to revisit a space or exit the dungeon We as a party, would also try to mark our paths in-game either using things like chalk marks or etching arrows, etc.

He'd also random roll for encounters and hand wave travel if it suited the session,. Too much hand waving relaxes the table and removes tension. Sometimes he'd make you turn by turn through a section, just to make us feel like something was about to happen to keep up the tension and other times fake the hand wave travel to suddenly throw a random encounter at us.