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World maps were common in the Middle Ages, though they were never very accurate. The more accurate maps of the time called portolans were not maps of the known world, as far as I know.

World maps of earlier times were also not uncommon, but were no better. There is a link to a world map of Posidonius, dating to 130-150 BC, below.

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Q: Was the first map of the known world created in the Middle Ages?
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