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Have you considered something like Avenza? I believe they have live basemaps now. There's also Fulcrum (premium $) and Esri Field Maps.
These require some work up front but these are what we researchers use to navigate and collect data in the field.
Is the esri one free to use?
Sorry, no. I forgot because I am on a plan.
But Avenza has a free tier and I like it better honestly. Much nicer/easier to create interest points. You can use their basemap or make your own in Qgis if you have any GIS skills or use any PDF that has geo info embedded like a usgs topo map.
You can find any usgs topo map for free from usgs and load that into Avenza easily.
If you're interested and this sounds like what you're looking for I can dig up some links.
I had to switch to Esri Field Maps for work so I haven't used Avenza since they implemented a ton of new features but I still have it on my phone because it's a good app.
I loved Avenza but quickly ran into the paywall and didn't need it that much to pay for it. Maybe someday when I'm doing cooler stuff.