Alright, I figured out a way, but I haven't tested it. Be sure to have the "map creation mode" enabled before you try to use the trigger.

#trigger {You follow %w (%w)} {#makeroom %1;#look} mapfollow

#alias mapon {#t+ mapfollow}
#alias mapoff {#t- mapfollow}

It will be redundant because you will be looking at the room twice with this method. The other thing is that it won't work if you're moving too fast. The mapper it self doesn't act instantaneously even with the configuration set for your character. You'll find you can move faster than it will keep up while mapping alone. If you do jump ahead it will give incorrect information for the room you're trying to create (example would be you move two spaces and map and your 1st room created will reflect the description of the second room you're in). It's not a very long pause you need, but it's noticeable at times. I'm going to guess this will be an even slower process. I'm not even sure if the trigger will work as I've described it, and eventually I'll test it myself and improve it. But it may be a while.