An application called Gokivo is available for iPhone. The app is 99 cents and links to Yahoo local info and maps. If you want full GPS navigation you must pay $10 a month's worth of access to the maps, directions, and traffic info. The maps do not reside on the iPhone so you are at the mercy of your network connection for screen refreshes. This doesn't seem like a good value unless you only have a one-time need for GPS directions. This application uses iPhone 3.0 technology that allows in-application purchases.
This is a link to the iTunes page for the app:
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