I have used a variety of navigation apps. I like the Maps app that comes with the iPhone when I am home and have good cellular service. You can set it to avoid highways but I am not sure what that really does.?
There is an app that we used when we were in Europe that Saves your rout so you can use it when you have no service. It is called Here we go. We have used it for camping and it worked well to keep us on the right forest service road
when we were in a no cell service area. It also lets you avoid certain roads. I have attached an image.?