Inserting Google Maps Mapping Routes with GPS

I'm developing an application using the Maps API, I would like to know if there is a way from the current location, to choose an establishment and map the route from my location to the destination, until then I was able to do it normally, to also insert GPS Navigation with voice and guide according to the route, which would be the routes of the Google Maps application itself, is there any way to insert it internally in the application or some way to access or open the routes externally?