In the Navigation mode, open the quick menu or swipe across the screen so the Search bar appears at the top, and write the address or place you want to add as a waypoint into the search. When you select from the results, another option you will see besides “Get directions”(which would make it your new destination) is the Add as waypoint option.
Alternatively, instead of searching you can simply tap anywhere on the map so a blue marker appears, and choose the Add as waypoint option that way.

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