If you have a device that can run Replicant with GPS, that would do the trick; you could use OsmAnd~, ZANavi, or Navit (all found in the F-Droid repo). But I don't think any Replicant-supporting phones support GPS with libre software, so that's partly just theoretical.

A device with GNU/Linux like the Pyra should theoretically be fine, too, if you add GPS to it somehow. In that case I suppose you would use Navit.

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