Since you’re talking about city travel, do you care about traffic? That has been my main issue with any alternatives.

• Osmand: solid overall, you do need to buy Osmand+ in the play store if you need Android Auto functionality though (the f-droid version does not work with AA). But no traffic data so you’ll get the best route if there was no traffic. Another quirk is that you need to download the region you’re navigating in - you can view maps online but can’t navigate without the downloaded maps. And downloads are large chunks - it is by country or state/province so you’re likely using a lot of storage that you don’t need.
• OrganicMaps: a cleaner interface than Osmand while using the same map data. No Android Auto support. It still needs to download maps but can auto download as you go and uses smaller chunks so you can download more locally.
• MapFactor: one of the early offline options on Android before Google Maps offered the option to download. It has traffic data but I’ve found routing to be mediocre. It’s also subscription based rather than a purchase.