I don't know how it works on CarPlay but when I turn my car on I have a bunch of suggested addresses (home, work, parents, recent Maps searches, etc) that I just touch-to-go. Having to use voice every time you want to navigate not only sounds unnecessary, but cumbersome.
CarPlay does not work at all if you have not enabled Siri. As in it won’t even connect.
I literally see these things every time I drive. And I work from home.