Yes!
Under Realm > Marketplace > Barter, you can buy a Explorer's Map for 30 mushrooms. The Explorer's Map reveals the location of any remaining enemies and untread tiles.
Once purchased, you can use it from here:

And it looks like this:

Completing the battles as you go is certainly for the best. Each level has 400 tiles. Attempt to find the undefeated enemies with the help of the Explorer's Map but if it's too difficult, you can always replay the level from the Explore page.
Oh, and do note that the Explorer's Map doesn't update after it's used so try to keep a mental note of what direction you've moved your pack in since stepping off the tile you used it on and trying to get to an untread tile or enemy.