How to turn off Maps Navigation from hijacking my lock screen?

I have the entire Apple Ecosystem, including the phone and the watch. When I’m using Maps Navigation, I usually set it up on my phone and refer my watch while walking for turn-by-turn directions. But Apple Maps still takes up the phone lockscreen by default, and unlocking is a much more inconvenient because it takes more time to unlock. For instance, if I want to take a picture, I usually take out my phone and just swipe to launch the camera, and click a picture. With the Navigation taking over my lock screen, I’d have to unlock the phone using FaceID, then launch the camera app, then take a photo, which is super inconvenient.

Is there a way to turn off the Apple Maps Navigation taking over my lockscreen?