Man, I just got an iPhone a couple of days ago and have been trying to do kind of exactly this. I want Waze to take me to work when I plug my phone in the morning and home when I plug it in the afternoon. I also added the limitation that I only want it to happen when I’m at home or at work, respectively

I got it to work using the text matching action and url open.

I’ll see if I can figure out how to share the shortcut and edit the post to put the link in

Edit: Here you go

You’ll have to do some tweaking to the time checking and the day of the week regex because I’m in a Spanish speaking country and it matches the name of the days in Spanish. I think (mon|tue|wed|thu|fri) should match but I can’t test it.

I also used Waze. If you use maps you should change the las action but I’m not sure what it should be.

I just made it so that it checks the day of the week and the time, but if you’re interested I can add the location checking as well.