I would recommend 2D semantic HTML documents (using a table), and no, HTML tables are not harmful (https://webaim.org/techniques/tables/ with a real life example https://iroiro.neocities.org/ ). People with visual impairment can still navigate easily (see webaim page above) with screen readers.

If you want to browse openstreetmap (have an instance on my home server with my email): https://www.rocketgit.com/user/sylware/lnanohtmltiledmap (could be used as a base).