A detailed map of 1st century Galilee / Palestine, showing roads and caravan routes is online at www.urantiabook.org/graphics/gifmap1.htm . However, you should only visit the site with caution, as the group that runs it has rather unusual beliefs...
Safer options, though with less detailed maps, are available at www.historicjesus.com/maps/galilee.html and http://www.bible-history.com/geography/maps/map_upper_galilee.html .
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