Multi-stop route plan & Voice Navigation

I'm looking for a way to plan a travel route to multiple specific locations involving non-traditional route choices (e.g. historic Route 66). There are multiple route segments that are needed that wouldn't normally be used without frequent changes in point A to point B recommended routes.

I can create a route with Google Maps, but don't see a way to export/import the route definitions to my iPhone for use with iOS Maps, Waze, or even Google Maps.

Is there a way to do this?

TIA