Allow Maps app on Driving mode

I want to allow Apple Maps or Google Maps app notifications on Driving mode, which also has a default set option to send an automatic reply which I like. But this built-in mode doesn't support the option for allowing apps, it only has an option to allow or silence calls from certain people.

I like everything else about Driving mode including move-detection, connecting to CarPlay, and automatic replies. But I need to get the sound notification from the maps app while driving to be able to follow the road.

Or else, I could add a custom focus mode, but I am not able to add auto-replies or CarPlay mode which I would like to keep while driving.

Can you please help me to marrying all these options in one mode?

Thanks,

Tugce