TELEMACHUS’ JOURNEY
Telemachus, accompanied by Athena, disguised as Mentor, sails by night from his home on the island of Ithaca to the kingdom of Pylos, ruled by King Nestor. He then travels overland by chariot, accompanied by Nestor’s son, Pisistratus.
Both Pylos and Sparta are part of the Peloponnese, an area named after Pelops, the son of Tantalus (from Episode 4.)
I found this very helpful map articulating Telemachus’ journey to Pylos and Sparta on Wikimedia. It is classified as a “Derivative artwork by a user named Kenmayer.”