MAPS.ME is the best one by a pretty fat margin, I'd say.

Map viewing is wonderful, the best I have experienced on Android. It's very fast and super detailed.

Routing has some issues. The estimates are way off, routing by bike means road bike (not MTB) and the voiceover speaks too early or too late.

I use OsmAnd, it works great for me.

I've had a pretty good experience with Galileo (https://galileo-app.com/) on iOS; it looks like there's an Android version that's fairly similar.

I use both osmAnd and Maps.me from the fdroid store.

Maps.me: https://f-droid.org/app/com.github.axet.maps

osmAnd has a ton of features. maps is more basic but is better for navigation since it has a 3d option

OSMAnd is rather powerful, and its UI is not intuitive at all before you spend some time with it, but it's what I've come to like.