POIs or Points of Interest are markers on the map, which indicate various things on the map. There are lots of different POIs avaiable in the game (e.g. school, museum, factory, tunnel). These determine where special kinds of missions and incidents can spawn. E.g. the mission "Single vehicle in tunnel" can only ever spawn, once you've set the POI "Tunnel" somewhere on the map (and fulfilled the other requirements).
What are POIs?
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