I think the map and compass help you get a sense of how far through the dungeon you are. Once you get both, for example, you think "ok, now I'm probably at least halfway through". Not to mention that you usually need the compass to find the boss key chest, unless it's already in your path. I'm sure it would be harder without them, but, I don't think it would be more fun. I think instead they should just make the bosses stronger. Morpheel, for example (in TP)- it didn't even really attack you. You just clawshot onto it and stab, then aim, and do it again and again. I think bosses should be more aggressive and do more damage.