Both Waze And Google Maps have live traffic data. This alone can keep you from getting stuck in traffic.
Waze is probably the most accurate, there is an army of volunteer editors working the map everyday.
One drawback to Waze is it's a commuter app, so it will eventually take you and your rig into a tight corner.
Google Maps (owns Waze) is a much more refined navigator. It can tell you which lane to be in for an upcoming turn. It's started as a commuter app but seems to have some trucker features. Updates to the map are slower than Waze, but still far ahead of any other navigator.
This Wiki talks about truck mode with google maps.
https://www.connectedwiki.com/google-maps-truck-mode/
If you are towing your rig in unfamiliar territory, then using trucker resources already mentioned in this thread may also be needed.
Here are more trucker resources, no particular order.
SmartTruckRoute
Trucker Path
DAT Trucker
Co Pilot
Sygic Truck GPS Nav