Ok, without Root, I figured out a way to at least navigate to work and home using Waze.
Cliff's Notes idea:
Create a Task in Tasker, export it as an app, and use Google Assistant's shortcut feature to tell it to open that specific app. I know it seems ridiculous, but it works like a charm on my Galaxy s7.
I created tasker Tasks as directed here:
https://groups.google.com/forum/#!topic/tasker/5nY-9A7OK6U
Make sure to add icons.
Then I long-press on the task in Tasker to select it, hit the Three Dot menu in the top right, and choose Export > As App. It will prompt you to install a secondary app packager plug in for Tasker if you need it. Then it wraps your task up as an APK and asks if you want to install it.
Ok, so now I need to go into the Google Home app (not the google Assistant app), tap the Hamburger Menu in the top left > More Settings > Shortcuts
(
https://www.techrepublic.com/article/how-to-create-google-assistant-shortcuts/)
You do have to be careful not to use one of the phrases google already associates with doing something, so I say, "Head Home" and then tell google to open the app Tasker made for me. I called mine "NavHome" but you could probably call it anything you want, as long as you don't have another app with that name.
It seems like a lot of work, but at least I can get in my car and say, "Ok Google, "Head Home" and pop my phone onto the dash.