Have not seen an extension to Visual Studio 2010, which makes document map like this (on the right side):
Is there extension for Visual Studio 2010 that makes document map?
The Productivity Power Tools (VS2010 Extension from Microsoft) has what's called Enhanced Scroll Bar. With three modes. The mode you want is full map mode
Once installed: Tools -> Options... -> Productivity Power Tools -> Enhanced Scroll Bar -> Full map mode
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