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Still not as good as Google Maps, but I find maps.me (also open-source and based on OSM data) significantly nicer than the default OSM client for Android (I think it's called OsmDroid or something similar).

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There's no default or endorsed OSM app for any platform. The openstreetmap.org website is of course official, but it's not really an end user portal.

OSMAnd gets lots of attention though.

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