add /map after “observations” in the URL, e.g.
https://www.inaturalist.org/observations/map?lat=43.91027586444459&lng=-74.6772488732175&place_id=any&radius=61.551917374056316&subview=map#10/43.896/-74.303
Lots of map options mentioned here: https://forum.inaturalist.org/t/in-pursuit-of-mappiness-part-1/21864