In Metal Gear Solid V: The Phantom Pain you can activate Mini-Map while driving a car or riding a horse. What I mean by mini-map is that by activating it the map will shrink and you as a player will be able to see nearby icons while being able to drive around.
To activate this feature in Metal Gear Solid V: The Phantom Pain all you need to do is when on your house or in a car driving Open the MAP and press TRIANGLE/Y. This command will shrink the map and you will be able to see nearby icons.
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