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Can I get navigation instructions outside the navigation screen?

Yes, you can set in "Settings > Navigation > Navigation settings" in the "Instruction pop-ups" whether and how navigation instructions should be displayed.
There you have the choice between "Deactivated", "Navigator" or "TFT". If you are not in the navigation application but in the "Media menu", for example, you can select the list element "TFT" to display the navigation instruction on the TFT display.
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Show navigation instructions during ConnectedRide navigation