How can I get Apple Maps and Google Maps to *always* show speed limits?

I'm on iOS 15.2.1, and I've enabled the display of speed limits in both Apple Maps and Google Maps. Both apps show the speed limit if I'm using them to navigate somewhere, but if I'm just using them to show me where I am while I'm driving around, neither shows me the speed limit. How can I get them to show me the current speed limit, regardless of whether I'm using them to navigate to a destination?