I still often check the map, albeit now on Google Maps, before I go somewhere I don't know, whether by car or on foot.
I find it provides much better and needed awareness of my surroundings. It sometimes also helps falling for sat-nav bad choices. On foot/by public transport I often don't even need to check my phone and can just walk looking around (I know, who does that?!)
In the past, people were also heavily relying on road signage or stopping and asking locals, especially when not carrying a map.
My car always had a US Atlas and at least one state map in it at all times.
I feel like most people had an atlas or a paper map in their car most of the time. Though it is possible that I was more prepared than most.