I tried Google maps in the past, but stopped using it because I found that when connectivity (GPS or Internet) was lost (or bad) it didn't give voice prompts.
So I default to Waze presuming it will show me traffic, incidents, etc. to avoid.
Habits are hard to change, but there's definitely a case to be made for Apple maps (especially if using an Apple watch, which vibrates to make you aware of turns etc.).
One of the most annoying thing for me with any of the apps is the audio prompts. I want them loud, and by default I don't want them to use Bluetooth (that is reserved for calls, podcasts, etc). If I decide to use Bluetooth for the prompts, whatever audio is already playing on Bluetooth must be automatically paused for the map prompt, and resumed (possibly going back a couple of seconds) when prompt is over.