No, they still can't because it reproduces functionality of the OS. They could provide just navigation, but if they ported the Google Maps app to iOS, it's very likely that it will be rejected for the same reason that a port of Chrome would.
Port of Chrome would be rejected for completely different reason: Apple disallows downloading and executing dynamic code from internet unless they're executed by Safari's JavaScript engine. This is not the case with Map. There's already a lot of GPS apps with different map data than the one in Maps app.
