I love OsmAnd for all outdoors related activities. The trails are well defined, navigation is good and gives a good estimate, maps are configurable with all you need, recording works well and spits out a gpx.

There are some quirks, and elevation in both tracking and planning is often off (I think it might try to use a too fine granularity).

But usability wise I didn't find anything that compares, even Gaia - which I still use when I need precise terrain (their 3d mode is just incredible) or some much more obscure trail that's not in OsmAnd