For my next adventure I'm planning on preparing some encounters (5-room dungeon style), and set it in big empty fluff dungeon. So once they've found the entrance there are tons of tunnels, stairs, water ways, fleeing creatures in the dark, until they finally arrive at... and so on. The point is to skip left or right decisions, skip mapping, skip everything except the encounters and the fluff between. That's because I have a similar suspicion: Players don't really care that much.
Unless there are other reasons to map. In the Vault of Larin Karr my players have made a longer trip into the underdark, and they found a piece of a map, and an NPC drew them a rough sketch of the underdark. Once they realized where they long trip had taken them, and where the piece of the map belonged, they were really excited about it. If you don't plan on having these kinds of moments while exploring, however, you might as well skip the mapping part.