Also a nice topic where, I can tell a lot about. This page has a focus on apps to use on a phone or tablet (and less for creating tracks on a PC).
Being opinionated, there are two suitable (Android) apps for offroad driving:
DriveModeDashboard
Best for recreational riding and/or following offroad tracks. Simple to use, great map layout (which inspired me to make tweaks for Locus) and great community. Is constantly being improved. So what should you have more?
Locusmap
Well, more advanced features and customization for e.g. Rally Raid usage (for example based on Manuel Podetti's Adventure Challenge formula). Here DMD (June 2023) was not suitable, because you need more advanced routing, track planning etc. Locusmap provides this. Also nice - cloud storage to share tracks across devices. However, Locus is (initially) more complex to use and the available map layouts are not DMD-like (which is different now). Some guidance to that is given elsewhere on this page.
For IOS devices (which you should not use on your bike 😉), there are also some options:
OsmAnd - has both an Android and IOS version
Guru Maps - has both an Android and IOS version (was my first app on the Carpe which worked well)
Maps.me - think also IOS and Android. I use it on IOS for hiking/walking. Disadvantage is that it only can handle KML-files (so you need to convert GPX first)
GPX Tracker - Only IOS. I use it for recording when driving and quickly get an overview of Tracks. Easy to use.