If you want to add a waypoint while navigating,
1. Select a point Directly from the map
In navigation mode, move your finger on the screen to zoom out of the map. Tap on the location on the map you want to pass through and then confirm by tapping Add as waypoint.
2. Add a point via the quick menu
Open the quick menu by tapping on the four-dot icon in the bottom right corner of the screen and select “Add waypoint”.