Welcome aboard!
Apple Maps has come a long way from the early days when it wasn't a contender. Now I use it all the time and find Google Maps cluttered and clunky, although useable.
However, if I were you I would start with what you know already (Google Maps) but poke about a bit in Apple Maps. It is structured differently to Google Maps and you have to find out how it works to get the most from it. When you do, however, it is very rewarding. Some cities are likely to be better served than others - I am in Melbourne and Maps serves our very large public transport system well. Hopefully your location performs equally well in Maps.
Don't forget about the iOS apps provided by your local transport providers. They are a rich source of transport information too.