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Real-time navigation with google map service

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As I know, google prohibit using its map service API to build real-time navigation app ( and specifically in embedded vehicle ) https://cloud.google.com/maps-platform/terms/

So why there are still many navigation app base on google maps and some automotive manufacture like Tesla still use google maps and build their own navigation software ?

If It's not illegal to workaround so how to use google maps service API to build custom real-time navigation software ?

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