I don't use Apple Maps because it isn't nearly as good as Google Maps or Waze (now owned by Google).
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However I just fired it up (iPhone 12 mini with iOS 18.1, all apps updated). Audio works fine for me. I did have to turn location services on (ask permission and only once) and confirmed volume was up. Directions were wrong, but the audio worked.
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Some years ago Apple Maps sent me across a cow pasture. That was it for me. My SIL is a fan and when we head off in tandem and she follows Apple Maps while I use Google Maps I consistently arrive earlier and with less stress. YMMV.
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You'll have figured out my solution by now. *grin*
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dave