While my first playthrough was a sinewave of being more or less lost, I enjoyed gradually putting together a mental map of the castle. The landmarks helped immensely (statue crossroad, inner courtyard, corridor to the throne room). The underbelly seemed deliberately mazelike, so no complaints there. If Sansa Castle were divided into zones with some visual cue, like a different texture on the walls, it could be even easier to keep my bearings.