I know it is Apples (no pun intended) to Oranges, but I've used Waze on my Google Pixel daily for over a year and never had an issue. Many Apple folks are new to OLED so I hope that helps. That said, Google has special software that moves the images around on the screen slightly to prevent burn-in. I assume Apple would have done similar.
So far on my X no sign of burn-in, but I've only had it since November 3rd.