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I've used Mapquest which has routes from Navteq and is good for routes with waypoints. Also, read the Terms of Service carefully. You should know that Google does not allow you to use any of their mapping/routing/geocoding services with a navigation app.
We had similar requirements when looking for a Maps API for our OpenTripPlanner for Android open-source project, and we decided to go with Android Maps API v2. Android Maps API v2 provides 3D camera control and 3D building renderings out-of-the-box, so you can easily create views like this: Android Maps API v2 was feature/performance-wise far beyond ...
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