The only town that is accessible after Imoen's rescue is Brynnlaw, you can head back to town to rest up and re-supply before moving on.
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There are only two places you will be able to go right after leaving Brynnlaw: (unless you use warp to party cheat)
1) Underdark (through portal of Jon's)
2) Sahaugin (Saemon's option)
Brynnlaw and Sahaugin will be in accessible unless you cheat once you left them. New places show as you come across them, and 3 additional maps will be given once you leave Underdark to surface.
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