It is possible if the app has it's own URL scheme and other app knows about that. Let's say I make an app Foo which supports "foo://" and you make an app Bar. You can ask iOS does any app recognize "foo://" and if so, then open it.

So as it currently works on iOS you cannot say to OS: hey, I want to use this app for http, instead you check if there is an app that handles "googlechrome(s)" scheme, and if yes you can replace your http(s) in URI to googlechrome(s) and then it will open in Chrome instead of Mobile Safari.

It needs to be done in each app, by bypassing the system web browser or maps support. So Google may support it in their apps, but Apple doesn't in the system apps like Siri, Contacts, etc.