Well so far in my limited use, Apple's map program is better. At least, using the two for a common location sent me there correctly on main roads using Apple and got me turned around by throwing me into private roads on Google. And I prefer the layout of Apple's system.
I'll keep using both on and off for a while to see how they go, but I never seemed to have any of the big issues people complain about with Apple's app. It's always clearly sent me to the right spot.