In google maps on the top navigation it shows your current step and then the following one. You can then tap on the next step to see it on the map. You can also keep swyping to see all future steps on the map.

In waze you can also do this. However you have to click on the navigation step on top, which brings up a list of steps. Then you have to click on the one you wish to see on the map and repeat. This is very clunky and is really the only thing that keeps me having both google and waze on my phone.