Depending on your threat model, it may be worth it to just use Bing Maps or Apple Maps. At least your searches and travels aren’t being tied to your Google account if you use that. Of course you also have to be aware of whether you have accounts related to those other offerings.
There is also MapQuest, but I don’t think it’s trying to be privacy respecting. Here’s an alternative. ¯_(ツ)_/¯
I don’t think there’s any better Aurora Store alternatives but there are these map apps, the first one is on f-droid.
Organic Maps is really good and uses OpenStreetMaps Fdroid link to organic maps
And there’s Magic Earth which I haven’t used but heard it’s pretty good. (Only on aurora store) Magic earth Google play link
Ive been 100% happy with “HERE WeGo”. Its literally a perfect replacement. You can even download the maps and use it offline. Just make sure to disable telemetry stuff when prompted at the first time opening the app