Cheating [for me] is using some out of game context/solution to solve an ingame problem that has an ingame solution.
A classic example would be using an Xray hack to solve limited ores/resources.- cave diving and quarries would be the in-game solutions.
With minimaps, waypoints, ect you have a GPS giving your exact location based on an out of context system (coordinates on a debug screen), which is given freely from the start with absolutely no ingame cost or context.
In game solution? Vanilla maps aren't that useful, but the compass is brilliant for working out your location (this has an ingame cost, and takes a little skill), as well as building monuments/landmarks ect.
(If theres a mod that'll display the vanilla maps like a minimap or something similar I probably won't consider it cheating)