I would install maps either way, it’s what the APIM had before I guess. It won’t work, but it would be a clean install (if that makes sense).
One more thing I’ve noticed: your car is from 2016, you will need to upgrade the HUB in order for carplay to work. Take a look at this thread for what part number you need → Media Hub, CarPlay Compatible - 2015-2020 Ford/Lincoln - SYNC 3