If you would like to remove added waypoint while still in route overview, just tap on the bin icon next to the waypoint you want to remove from your route.
If you wish to skip/remove the nearest waypoint on your route during navigation, open the Quick Actions and choose the waypoint you want to remove by pressing the “-” symbol in the red circle next to it.
To remove the waypoint through its map marker, swipe the map in any direction while navigating to stop following your position, and drag/zoom the map until you are able to see the waypoint. Tap on it, and then select Remove waypoint at the bottom of the screen.
Notice: The removal of a waypoint from the map directly when navigating is not available in the iOS app – you need to delete waypoints via the Quick Actions menu.