Map drives from another computer

Not sure what bonjour is, I'm kind of a newbie.

Zero-configuration networking. If it is shared from a Mac, you should see it in the sidebar. If it is not shared from a Mac, you may need to enable it: https://www.freecodecamp.org/news/what-is-bonjour-on-my-computer/

If you are on a company network, they may have disabled Bonjour networking. In that case, you need to mount the share and create an alias.

Finder Preferences > General tab > Connected Servers.

Or, mount the share and create an alias to it on the Desktop.

Go > Computer will show you the mounted shares. You can cmd+opt-drag the share from the Computer window to the Desktop to make an alias.

It would be best to keep the share in your Sidebar, too. It should show up under Locations when it advertises its presence on the network. Same setting in Finder Preferences > Sidebar tab.

There is no such thing similar to mapping a drive in windows. It won't connect to the server until you open the share.

If you have to find them as they are not advertising themselves via Bonjour, you will need to mount them and create aliases.

The only shares that will show up automatically are those that advertise their services on the network via Bonjour.

Create an Alias.

Create and remove aliases on Mac - Apple Support