No, unfortunately you cannot.
The only "work around" that I've found is to use Apple Calendar to add each stop with locations. Then you can click on the next location and your phone / car play will navigate there for you - just be sure to put them in chronological order. The start time of each event isn't important other than order.
You can also add the town and, using maps, create a "Guide" for places you'd like to visit. This provides a quick way to see all the sites you'd like to see (restaurants, points of interest, etc). Of course, this won't put them in any order but it does add their icons to your map so it's a bit easier to see where things are while on the move.
Lastly, be sure to request this feature from Apple as it would be very cool. I'm sure many folks, such as myself, have the same problem.
Cheers!