This Google Map shows the Imjingak/Imjingang area in the foreground, with the Dora Observatory on the ridge. The two unnamed red dots at top left are the famous P'anmunjom JSA and the bridge by the old poplar tree - site of the massacre in August 1976.
The yellow line is Google's usual inaccurate country border.
The map is tilted, but north is still 'up'
Paju City has a very clever but very stylistic map of the whole DMZ aea around P'anmunjom. While not really detailed enough for walking, it does show all the sites very nicely. Unfortunately it is all in Korean.
Go to the Paju website and click on the DMZ map icon on the right. You will need to scroll to the left a lot when the map shows up in a separate window. If you see a little VR symbol, there is a pop-up 360 degree view of that site.