No voice guidance in Maps

Recently I stopped getting voice navigation prompts in Apple Maps app. I'm getting voice guidance in Waze--but not Maps. I can't find a place to turn this on or off, beyond three settings under Settings / Maps:

"Directions Paus Podcasts"

"Directions Wake Device"

"Directions on Radio"

All three of these are currently On, but maps is silent, on the phone and in CarPlay. Help would be much appreciated!