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You asked for an app that lets you specify waypoints...just put the waypoints on the outskirts of town? Why do you want to go near but not into these towns?
I'd like to take specific roads (such as the D996), which Google will do if I select "no highways", but I'd like to take some highways. Ideally, I would be able to plot a route as I do for cycling, and then send it to my phone and follow that.
Dammit
You asked for an app that lets you specify waypoints...just put the waypoints on the outskirts of town? Why do you want to go near but not into these towns?