Ever since getting a smartphone, I’ve always used regular ole Google Maps with no issue.
Personally never even tried any of the blindy-specific gps apps; haven’t had a reason to.
Google works perfectly for walking/transit imo.

Are use Moovit which is a transit app. It works very much like Google maps. If you have voiceover on while using it it will tell you when to get off the bus. It will also tell you how many stops you have before you have to get off so at the very least you can be prepared to ask the bus driver to let you know when to get off as you get closer to your Destiination. I also like Microsoft soundscape for iOS. It can call out stuff as you walk by it. For example if you are passing a nature park it might tell you that. It also tells you what intersection zero approaching. It’s fun to use for sure!

I personally use a combination of Nearby Explorer "Online" from APH and Google Maps, both free.

But there are so many out there and most do particularly well at one thing, or present information in a way that some people find easier, for instance Soundscape by Microsoft, but I've not found any app that can do everything I want.

As mentioned before, Google Maps works perfectly fine. Personally, I'm more focussed on keeping myself safe and on-trac, rather than what locations are around me. That might be different for you, which will ultimately determine which app is going to be the right fit.

Remember that a GPS app is in no way a replacement for navigational skills. It's just a voice in your ear approximating when you should turn. It's still on you to put the rest of the puzzle pieces together.

I usually teach Google Maps. However, some people like to use Blindsquare. Unfortunately, the high cost makes it difficult for some people to purchase.

navigation how? walking or public trans?