You store the latitude and longitude in separate fields of your CPT posts?
You can display a map with a marker at these coordinates, but you will need to use the legacy shortcodes rather than the newer Blocks-based maps.
You insert a map with the wpv-map shortcode, and add a marker with the wpv-map-marker shortcode, and you will need to provide the values for the lat and lon attributes using shortcodes to get the values from your post fields.
To see what is required, I suggest you go to Toolset > Settings and specify that you use both the legacy and blocks-based editors, then say that new Content Templates should be created using the legacy editor.
Create a Content Template for your CPT (with the legacy editor).
Use the Fields and Views button to insert a wpv-map-render shortcode, and again to insert a wpv-map-marker shortcode. As you insert the marker, choose coordinates and add wpv-post-field shortcodes for the lat and lon as shown in the screenshot.
Note that in my example my coordinate custom fields have slugs of "lat-field" and "lon-field", and when output using the wpv-post-field shortcode you need to include their 'wpcf-' prefix. Edit these to match the slugs of your own custom fields.
Yes - you can display all entries for that you will require a view and within the view's loop editor you can add the map marker shortcode as described by Nigel and the map shortcode still stays outside the view's loop.