Navigation app on 2020 SR5 ???

There's a list of phones compatible with wireless android auto. Scout GPS link is the app your tundra is currently looking for BTW but to get experience you're wanting I believe it still needs to be tethered I also think you can buy just the GPS module to attach to your head unit to do exactly what you're asking for.. with all that said I felt the same as you and ended up just tethering my old ass android .

 

The biggest reason to have on board nav is for those spots you can find yourself with no cell coverage for your mobile nav app - or grab a good topo map for those spots. It's a funny feeling when ya look down at the screen and you aren't anywhere near where it says you're at!