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Malignance Runs Rampant in the First Season of Diablo IV
(news.blizzard.com)
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I've done it on alt characters. Only takes about an hour running around on the horse to get all the waypoints. Intersperse this with smashing through the strongholds and it's not too dull.
They've made it so map reveal and altars will carry over into seasons. Whether that includes waypoints isn't clear, but I suspect we'll need to unlock them again.