Navigation app where you can record your own routs

Hi All,
I am currently looking for a navigation app, but there is one specific feature that I'm looking for, and I'm not sure if there is an app that provides this.
I'm looking for a navigation GPS app, where you can record your own routs, reason being, the the routs around my local area, usually differ compared to the routs that Apple Maps is trying to direct me with, as I'm a cane user, some parts of the rout that Maps is giving me, I have to avoid as they are not cane friendly, so I have alternative routs, however, is there an app that will allow me to record these alternative routs as I follow them, so I can use these routs at another point?
I know this is a very specific feature, but I am curious whether there's an app that can allow this?
Alternatively, which navigation app can allow you to choose a longer rout that doesn't take you through the quiet streets and shortcuts, because I don't seem to be able to do that with Apple maps and or Google maps.
Any help would be great.
Cheers,
Hubert