I too have struggled with this.

I think the crucial step that I was missing (and which is very easy to 
miss) is that it's important to clear any displayed route from the map 
first before selecting a new destination. If a route is displayed (outlined 
in thick purple lines) it can be removed from the display by tapping on the 
icon near the bottom left of the screen which opens the route summary. 
(This icon, which is next to the menu icon, displays a small blue diamond 
containing an arrow inside a largish white square.) The X icon at the 
bottom left of the route summary clears the route from the map. In your 
Youtube video this happens about 6 seconds from the start.

(What added to my confusion is that tapping the X does not clear the route 
from OsmAnd's memory.  It is still there and can be brought back, complete 
with waypoints, by opening the route summary again.)

Once the map is displayed without a route, selecting a new point on the map 
and selecting the "DIRECTIONS" icon at the bottom right of the screen makes 
the new point the destination without any waypoints.

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