"They want to get a city map."
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Two nouns don't need a 的 between them. It's adjectives with 2 or more syllables that require a 的 before the noun.
city map 城市地图
the city's map 城市的地图
car insurance 汽车保险
the car's insurance 汽车的保险
In English, you could get away with using the possessive form, but it sounds unnatural and can give it a slightly different meaning. Also, I've read that the Chinese usually prefer not to overuse 的 when it's not needed.