I had a question about #5 “Select a Route. This is optional.”
Both steps 5 and 6 are optional. If you dont use automatic navigation you dont have to worry about a grid.
Is Miqo supposed to be able to scout a map on her own without a navigation Grid?
Nope the only way Miqo can navigate on her own is by using a navigation grid.
If so, what do I need to change?
You have to either navigate your character manually or make your own grid.
You can also use auto-run to fly in straight lines across areas.
If not, is there a link to pre-made navigation grids for each of the map areas?
I dont think theres a single one. Youre probably the first person to ask about this feature since its release. Its not popular so nobody really bothered to make a grid.