Well I remember someone asking about this and couldn't remember who it was or if it was answered already. You can completely turn off map transparency in the system settings under UI settings. There is a slider that you can just set to 0 and bam no more transparency.
To close it you still have to hit m multiple times if you are moving but if you set it to restore map when not moving then you only have to click m once to open and once more to close when you aren't moving. Sorry if this didn't help or if you found the answer already but I tried searching and couldn't find the post about this.