I does have an ingame map which is actually quite good. For example, there is an X on the map if you have a quest to do there, and merchants, travel hubs, and such are also indicated by symbols. However, each zone is instanced. That means you talk to an NPC to take you to another zone (waggoner, ferryman, etc.), involving a loading screen like in WoW instances. (WoW instances are called "dungeons" in AoC)
The map above is quite helpful. It shows how the zones and dungeons are connected and can be reached travel-wise.