Sardis Verlag have created a detailed map of the Roman Empire circa “about 221 CE.”
It was always intended to show the Roman Empire at the apex of its power, prosperity and territorial reach. This restricts the time scope in question to somewhere between the Flavian dynasty and the beginning of the Crisis of the Third Century. In the end, the decision was made to select the reign of Septimius Severus, at the end of that period.
Beyond the map itself, I really appreciate some of the regional & geographic Latin names, something other contemporary historical maps rarely provide.
Alas, shipping is expensive, but there’s a large-format digital version on imgur if you’re interested in that.