Abraham Ortelius (1527-1598) map of Asia, from his work, Theatrum Orbis Terrarum, described as the first modern world atlas.

https://archive.org/details/theatrumorbister00orte

It shows a detailed Asia including Arabia. Herodotus had considered Arabia as part of Africa; some continued to place Arabia as part of Africa, but this began to disappear as time went by and Arabia was mapped into Asian maps consistently.

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