If I receive a voice message of probable long duration e.g. "Follow route for 10 miles" followed by a period of silence I get nervous after a time that I have made a road selection mistake. An on-screen option or a Settings switchable option to repeat last voice message or current voice message would be reassuring eg every 5 miles or every 5 minutes..

I commute on a motorcycle with my phone in my pocket. Sometimes there's a long gap between instructions, and I don't know if I need to continue or Waze has crashed.

Could an option for a periodic reminder (perhaps once a minute) be added to help give confidence and remind me of the next junction?

Great idea, I use Waze audio only driving by motorcycle, using one bluetooth earbud. In some cases Waze has crashed/stopped if I don't hear anything anymore but mostly its just because I'm on a highway without the need to make any routing changes.
Would be ideal if you could choose 'audio only mode' and tell the system for example to say every 5 minutes 'stay on the ... for x more minutes. And maybe every 15 minutes tell the estimated arrival time. This way I know everything is still good.

Many times while using waze,there is a long pause in the directions because nothing happens on the road. A "waiting tone" or additional speaking options by the app could remind us that the app is still running and that everything is ok. It could be stressful sometimes to think that the app has lost contact with you and you're in the middle of nowhere. I also thought it could be a funny tribute to all stressed out people while being in the road.

sometimes I drive for a long time on a highway. all that time there is no sound from waze (I don't use the map but only listen to the audio guide). all that itme I don't know if I'm still connected or was disconnected by unforseen net problem. I'm always afraid I'll miss the exit. please enter an audio announcement from time to time (lets say 15 minutes) that I'm still on the right way