CarPlay's goal is to limit driver distractions and promote safer interaction with apps, so onscreen information, specifically text, is severely limited. Due to this, our highly descriptive waypoint information is restricted by Apple from being shown on the CarPlay screen.
If you are using CarPlay, you can see waypoint descriptions by tapping the "Waypoints" button on the top of the screen.
Tapping a waypoint from this list will also zoom the map to that specific waypoint location.