OsmAnd
I forgot, because I turned it off long ago for being annoying with too many Favorites locations saved: In OsmAnd Navigation settings, voice prompts (tap it), click-on Nearby Favorites. I don’t remember the distance or if you can change that. Iirc, osmand will speak the name of Nearby Favorites. So, if you include “buy cheese at World Best Cheese Shop” in your favorite name, OsmAnd will say that when you are navigating “near” it. Only while actually navigating with OsmAnd. Hope that works. Plz report back.
Edit+: This is old and does not show nearby favorites from latest version, but gives the idea:
https://osmand.net/docs/user/navigation/voice-navigation/
More web search can find more, including code sources if you want to go there. 