I haven't seen anything particularly good that is free. Mapquest is only available for Sprint/Nextel currently and I believe it is priced similar to Telenav.
Nav4all.com offers what is now a free GPS application with voice directions and a POI database. While it works, it is not ready for prime time in my opinion. It is obviously a product designed for Europe primarily. It has a ton of features, but IMO is not particularly easy to use. It also has a bug on its distance calculation feature. You can give it a try and see what you think for yourself.
Basically, I don't consider Nav4all a real replacement for Telenav. I would love to find a free application that works well, but I just returned from a trip to Los Angeles last week, and having Telenav gave me a lot more confidence driving around an unfamiliar big city than I would have had without it. Heck I spend $10.00 day on lunch, so in the grand scheme of things, I think its well worth that peace of mind. Just my opinion.
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