The best replacement for osmand is navfree.

The best alternatives to osmand are rated as following:
★★★★★  navfree
★★★★★  sygic
★★★  mapswithme
★★★  locus
★★  skobbler
★★  navit
★  osmdroid

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No companions for osmand have been suggested so far.
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Google Trends

Scale is based on the average worldwide traffic of osmand in all years. Click on graph for more.
osmand
navfree
sygic