You can see the layout of hidden areas by viewing navigation of a Duplicant or a critter.
This is especially apparent when viewing a Shove Vole's navigation:

Steps to Reproduce
Select a critter that is able to traverse areas you haven't explored yet. Show navigation. See info that should be unknown.
Select a critter that is able to traverse areas you haven't explored yet. Show navigation. See info that should be unknown.
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