I think they do. When I was in high school and college, Chewie went back and forth between my Mum's apartment and Aunt Evil's house in Maine several times over a period of years. Every time he went into one of the homes, even if he hadn't been there for a year, it was obvious that he knew where he was and he would immediately go to the spot where his food dish had been in the past.

Same thing when my Mum "cat-sat" him a few times when I went traveling. He hadn't been in her apartment in years, but when he got there he knew just where he was and walked around to all his favorite spots, knew where his food would be, etc.

I don't think that cats think about it all in a linear way, but I definitely do think they have an awareness and recall of the places they live.