https://developers.google.com/maps/documentation/urls/android-intents
Check this page in the documentation.
You can get lat/long directly from the OS. You can then create a map intent. Any app listening to this can then be launched by the user. Like if you tap on a location link in whatsapp you will see GMap, Uber, Zomato etc as eligible apps. All this is free.
Now if you want to resolve the GPS coord to a place on map and show that address, you will need Google Places/Geocoding API. This will be paid. If you want to show a static map within your app, it will again be paid. You want to show navigation within the app like the delivery agent tracking within Swiggy, you need to pay Google.