Only through Google Takeout. I am trying to build a tool that allows displaying and sharing them outside of Google Accounts or Maps, but the only reliable way to get them out is unfortunately still Takeout. Some browser extensions offered a loop/extraction but they mostly don’t work anymore I think.
Google Takeout is excellent; basically GDPR data downloads 5 years before GDPR was even a thing. Before moving anything to Apple Maps I'd want to be sure they offer a similar feature so I'm not locked in.