Kind of, but I'm guessing not in the way you might hope.
Firstly, you can view a workout in the Fitness app and tap the Share icon.
This will copy the workout summary (including the map thumbnail) to the destination (e.g. if you choose to 'Copy', it's on your clipboard and can be pasted on your Mac (if you have handoff enabled), or you can Save the image to iCloud Files, send it via iMessage or AirDrop, etc.).
If you want the map alone, you can first tap the Map in Fitness.app and share that - then you get the map only, without the workout summary.
However, both of these generate a static image, not an editable map, and there's no way (at least that I can see) to combine multiple workouts onto a single map.
If this is your primary goal then you may have to look for another fitness tracking app (of which there are many) that has better mapping facilities (and that still feed into Apple Health for Move/Exercise/Stand tracking. For example, when hiking I use the AllTrails app (which has the advantage of working offline when you're out in the woods with no cell service), and it appropriately updates my rings, while also providing nice 3D elevation maps of the hike.
