The handy maps::map.where() function takes a latitude and longitude and returns what country, U.S. state, or U.S. county the location contains it. However, the database it uses for U.S. states inconveniently only works for the mainland U.S. Is there a way to include the non-mainland U.S. (e.g., Alaska and Hawaii, Puerto Rico, and others)?
The package mapdata Natural Earth does contains these, but not at the county level.
According to maps' readme, you also have a possibility of importing shapefiles, that you should be able to find online.
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