Practical answer: Organic Maps (or its community fork CoMaps) for simple offline navigation, and OsmAnd~ if you want more routing options and don't mind a busier interface. Both are open source, run on OpenStreetMap data, and work without an account. The catch is that neither has live traffic or police-style reports like Waze, so on a commute you'll lose the crowd-sourced rerouting. Download your region's map before you leave Wi-Fi.