I'm looking too. I have been using MotionX which at first I thought was pretty good, but lately it has been suggesting quite illogical routing that if you knew the area and your way around you would never go that way. Worse is that on some routes now that I'm learning the area (I just moved from LA to Queens, NY), I sometimes ignore the bad route suggestion and go the better way, and my current app won't let go of it's suggestion and keeps telling me to make turns and U-Turns, basically to route me back to the way it originally suggested, instead of being able to see that I've found a different way and to catch up to my way and then show me from there. Eventually it will give up and convert to my way, but it takes miles before it gives up and reroutes to a new route.
What I would love to see in a GPS for when you have a basic idea of how to go, but just not all the details, that you could put in high lights of the route, like "Route 80" instead of "Route 46." kind of thing and then the app would create a routing using Route 80 and fill in the blanks to get you to your destination. Of course that would require you have some knowledge of your area. Which you could get looking at your map on your mobile device or computer before leaving on your trip.
So Waze doesn't sound appealing. I guess I'll look into CoPilot unless anyone has other suggestions?