First thing to know: "Keep" is EP section, "Fort" is DC section, "Castle" is AD section.

EP is top right, DC is top left, AD is bottom third of the map.

Emperor keeps are the six in the middle. Blue Road Keep and Chalman Keep are EP, Fort Aleswell and Fort Ash are DC, Castle Roebeck and Castle Alessia are AD. I have listed the names starting at the three o'clock position counterclockwise.

There are three outlier stongholds, Drakelowe Keep is in the east, Fort Dragonclaw is in the north and Castle Brindle in the west.

Each faction has three "gate strongholds", which control enemy access to their scrolls.
We have Arrius Keep (center), Farragut Keep (south) and Kingscrest Keep (north) in the EP section.
Fort Glademist (center), Fort Warden (north) and Fort Rayles (south) in the DC section.
Castle Faregyl (center), Castle Blackboot (west) abd Castle Bloodmayne (east) in the AD section.

In addition to the emperor strongholds, there are three outposts around the imperial city: Bleakers Outpost (DC) in the north, Sejanus Outpost (EP) in the east and Nikels Outpost (AD) in the west.

EP and AD regions are separated by a river and bridges (this is the world famous "Alessia Bridge"). AD and DC regions as well as EP and DC regions are each separated by waygates. All of these are chokepoints, making movement of troops a bit more predictable.

Once you have learned this general layout, it becomes much easier to find your way.

That's a masterpiece @Leandor I had no idea about the fort / castle / keep thing and I've played two years haha. Amazing!