Maps should, in their default behaviour, zoom to filtered data marks. If not, it's probably because somewhere along the line while you developed the view, you'll have manually set the axis, either by zooming manually or resizing the worksheet. Have a look at the attached for a dashboard with both types of map on it.
To clear the axes, hover over the map, and look at the zoom controls that appear. If the map pin is blue, then click it to reset it to auto zoom. Also try the menu option: Worksheet...Clear...Manual Sizing