Hi,
Below codes worked for me.

Towermap:
<aura:component implements="flexipage:availableForAllPageTypes" controller="TowerMapControllerClass" access="global" >  
    <aura:attribute name="mapMarkers" type="Object" access="PRIVATE" />  
    <aura:attribute name="markersTitle" type="String" access="PRIVATE" />  
    <aura:handler name="init" value="{!this}" action="{!c.handleInit}"/>  
    <aura:if isTrue="{!!empty(v.mapMarkers)}" >  
      <lightning:map   
     mapMarkers="{! v.mapMarkers }"  
     markersTitle = "{!v.markersTitle}"  
     zoomLevel="5" />  
    </aura:if>  
 </aura:component>

Towermap Controller:
    ({
     handleInit: function (component, event, helper) {
          helper.initHelper(component, event, helper);
     }
})

Towermap Controller Class:
({
     initHelper : function(component, event, helper) {

          helper.utilSetMarkers(component, event, helper);
     },

     utilSetMarkers : function(component, event, helper) {

          let action = component.get("c.getAllTowers");

          action.setCallback(this, function(response) {

               const data = response.getReturnValue();

               const dataSize = data.length;

               let markers = [];

               for(let i=0; i < dataSize; i += 1) {

                    const Tower = data[i];

                    markers.push({

                        'location': {

                             'Latitude' : Tower.Tower_Location__Latitude__s,

                             'Longitude' : Tower.Tower_Location__Longitude__s

                        },

                        'icon': 'utility:Tower',

                        'title' : Tower.Name,

                        'description' : Tower.Name + ' Tower Location at ' + Tower.State__r.Name

                   });

               }

               component.set('v.markersTitle', 'Out and About Communications Tower Locations');

               component.set('v.mapMarkers', markers);

          });

          $A.enqueueAction(action);

     }
})


Towermap Controller Class:
public inherited sharing class TowerMapController {  
    @AuraEnabled  
    public static List<Tower__c> getAllTowers() {  
      String theObject = 'Tower__c';  
      List<String> theFields = new List<String>{'Id', 'Name', 'State__r.Name', 'Tower_Location__Latitude__s', 'Tower_Location__Longitude__s'};  
      String theFilter = '';  
      String sortField = 'Name';  
      String sortOrder = 'ASC';  
      List<Tower__c> allTowers = TowerMapUtilClass.queryObjects(theObject, theFields, theFilter, sortField, sortOrder);  
      return allTowers;  
    }  
 }

Towermap UtilClass:
public inherited sharing class TowerMapUtilClass {  
    public static List<sObject> queryObjects(String theObject, List<String> theFields, String theFilter, String sortField, String sortOrder) {  
      String theQuery = 'SELECT ' + string.join(theFields, ',');  
      theQuery += ' FROM ' + theObject;  
      if(!String.isEmpty(theFilter)) {  
         theQuery += ' WHERE ' + theFilter;  
      }  
      if(!String.isEmpty(sortField)) {  
         theQuery += ' ORDER BY ' + sortField;  
         if(!String.isEmpty(sortOrder)) {  
           theQuery += ' ' + sortOrder;  
         }  
      }  
      return database.query(theQuery);  
    }  
 }

Utility Class
public inherited sharing class UtilityClass {  
    public static List<sObject> queryObjects(String theObject, List<String> theFields, String theFilter, String sortField, String sortOrder) {  
      String theQuery = 'SELECT' + string.join(theFields, ',');  
      theQuery += ' FROM ' + theObject;  
      if(!String.isEmpty(theFilter)) {  
         theQuery += ' WHERE ' + theFilter;  
      }  
      if(!String.isEmpty(sortField)) {  
         theQuery += ' ORDER BY ' + sortField;  
         if(!String.isEmpty(sortOrder)) {  
           theQuery += ' ' + sortOrder;  
         }  
      }  
      return database.query(theQuery);  
    }  
 }




Hope this will help!

Thanks,
Sam