Whilst Waze and Google Maps are now available i only use Apple Maps, i really dont like the way Google Maps looks on Carplay and i'm not a fan of Waze on my phone as it seems to sort of take over with lots of notifications and is always using the GPS on the phone. Using Apple Maps it works really well for me especially as it integrates well with your calendar and your phone learning your routine so nearly all the time it suggests the location you want to navigate to without having to search for it.
Looks like this is a sort of list of supported apps :-
https://9to5mac.com/2019/06/12/best-carplay-apps-for-iphone/