Hi @lids and welcome!
We don't have a copy your mapdata_AML file, so it's hard to troubleshoot.
What's happening is that your basemap s_census and your locations mapdata_AML are in two different Coordinate Reference Systems (CRS). The s_census data has coordinate system PCS_Lambert_Conformal_Conic (EPSG 3347) (units are in meters), and your mapdata_AML file has longitude and latitude probably in EPSG 4326 (units are in degrees).
You will either have to transform mapdata_AML to match the basemap, or vice versa.
Here's an example using simple features
library("sf")
library("here")
library("ggplot2")
s_census <- st_read(here("data", "lpr_000b16a_e.shp"))
# Projected CRS: PCS_Lambert_Conformal_Conic (EPSG 3347)
map_aml <- st_as_sf(map_aml, coords = c("long", "lat"),
crs = st_crs(4326))
map_aml <- st_transform(map_aml, crs = 3347)
census_map <- ggplot() +
geom_sf(s_census) +
geom_sf(map_aml) +
coord_sf()