Perhaps karst landscape ?? IIRC, the Postogna (sp) and neighbouring cave mega-systems in former Yugoslavia were significantly deepened by the Med's dramatic draw-down during Messinian Event. Just as several rivers running into Med have very deep 'buried valleys' and offshore canyons, the karst water table was affected by the several stages of lowered sea level.
In my 'Chaparral' tale in fiction section, settlers decide to 'dig in' and ride out the decades of dismay from a too-near repeating nova. But, they're in 'Tepuis' with evident signs of mine-heads and adits, spoil dumps etc.
If they were under a vast, carbonate plain, they'd be much harder to find. Especially if not spewing neutrinos etc from eg fusors...
Geo-phys stuff used to map ore bodies, magma chambers etc gets you so far, as do geo-phones and small explosions. I think you'd end up using lots of small robots to swarm-map the maze, relaying data back to surface...
A possible scenario is society / tech implodes, regresses to sorta Neolithic. D&D 'glow-moss' along some routes, a few precious oil / wax lamps, but generations have adapted to darkness, mostly navigating with sonar by click-talking. Diet would be cultivated fungus, blind fish, 'land prawns' (roaches) and, perhaps, sap tapped from super-deep roots of ancient surface / sink-hole trees...