As I was reading your comment I was imagining how hard it would be to do in Boston where even using a GPS gives me borderline paranoia then I finished reading your comment.. Yeah that's not something I'd wish on my worst enemy.
And yet people did it for 500 years.
Makes you wonder what millions of your predecessors could do that you can't.
For example, landmark-based navigation is good in rural areas but not generally in cities (of today).
I believe there are studies on this, in fact.
Millions of your predecessors died in ways easily preventable today.
"Let others praise ancient times; I am glad I was born in these." - Ovid