Apple Maps can do that. When I walk in an unknown town I create a route and start walking. I get the directions on the my Apple watch 6 including vibrating. Same when I am driving a car.
Apple Maps or Google Maps will show directions on your watch if you start a route on your phone. I think apple maps may let you start it directly on the watch but not sure. Then as you walk it will show the next step on your watch and also vibrates in different ways for which way you turn.