I just checked my notes and yes, it’s been about three years.
Kind of ironic that I have so little use for maps on the go these days (due to the pandemic, obviously), but good to know Google Maps is coming back to the watch–eventually.
Update (2020-09-09): It’s back, but hardly as useful as it was before, since it can’t be used without starting to navigate on the phone. extremely disappointing, really.