No.
Maybe.
There is a blurry map.
Then there's this from the following episode...
So they were close.CHAKOTAY: They sound like people we should avoid.
JANEWAY: I wish that were possible. They control thousands of parsecs from here to the edge of the Beta quadrant. They're ecological extremists. They believe conventional warp engines damage subspace, so they've outlawed warp travel through their territory.
CHAKOTAY: Then we should reverse course and find a way around.
JANEWAY: That's the problem. We've already been in their space for three weeks without knowing it.
"Ish"
Man, those maps would be awesome if they had more detail.This here seems to be a cleaned up copy of the route seen in Endgame, it also shows the Bajoran Wormhole.
http://images2.wikia.nocookie.net/__cb20081210091902/memory-gamma/images/7/7e/VoyagerMap.jpg
You want the 2002 Star Trek Star Charts, which features Voyager's route (and a version of that map) in extreme detail. It's not canon, and it sold like rotten eggs, but it's very pretty.
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