This procedure works well for me:

1. Open Maps and enter a place or address
2. Tap on the address/place you want to go to
3. Tap on the big blue bottom that gives you the duration of the trip
4. You should get a map with one or more routes at top and a list of those routes at the bottom
5. Tap on one of the durations on the left NOT the big "go" button on the right
6. Maps will display written directions including mileage

Or if you prefer

4. Place two fingers on the map and zoom in to view a birds-eye view of the suggested routes.

The only time it goes right to navigation is by pressing the green "Go" button. And even then you can zoom out on the starting point to see the whole route in map form.

This procedure works well for me:

1. Open Maps and enter a place or address
2. Tap on the address/place you want to go to
3. Tap on the big blue button that gives you the duration of the trip
4. You should get a map with one or more routes at top and a list of those routes at the bottom
5. Tap on one of the durations on the left NOT the big "go" button on the right
6. Maps will display written directions including mileage

Or if you prefer

4. Place two fingers on the map and zoom in to view a birds-eye view of the suggested routes.

The only time it goes right to navigation is by pressing the green "Go" button. And even then you can zoom out on the starting point to see the whole route in map form.