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I don't use Google Maps, but Waze stays open just fine. As long as it's focused, my screen stays on and my phone stays unlocked. I don't understand OP's phrasing. They seems to be saying they want to use maps while the phone is locked, which doiesn't make any sense to me.

Apple Maps on iOS will actually display the ongoing navigation on the lock screen. That's what the user is asking of for Google Maps but currently it's restricted to Apple Maps. The main advantage is saving battery life since the screen isn't on in the lock-screen mode except preceding a change. Also, if a passenger is using the phone (e.g. changing the music) and accidentally locks it you still have access to navigation.

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