When you tap the "Go" button to start navigation and you're already along your route, a dialog will appear allowing you to "Resume to WayPt X", where X is a likely next waypoint number in the route (there may be multiple waypoint options if more than one is nearby).
If needed, you can also skip route locations with the "Skip" button at the top-right of the map (e.g. you resume a route but decide you need to advance to the next waypoint).
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