In my experience, Apple Maps is on par with Google Maps (at least in the U.S.), esp with latest improvements in non-car routes (i.e., cycling, though I use Komoot for that anyway). However Google tends to have more POI (they're further ahead in the ad biz).
With so many iPhones and Apple Maps being an smoother experience (Siri/OS integration), it definitely competes heavily with Google (at least in US).