How do I make a good map design

What I’m basically trying to do is a stealth section for a game im working on, but if the player gets caught it turns into a combat section.

How can i design a map that can be both good for being sneaky without making combat feel clumsy and crammed.

I think warframe did a really good job, but I also dont really know if its “good map design” depends on what you think

basically they add a lot of ways to get caught ( cameras , sensors , alarms )
basically security systems.
and they also have ways to get around them. for example vents and ontop of pipes and such.

I think there are better examples, but this is the only one I have played

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