There are quite a few frontends for OSM that let you plan routes, like OSMAnd~. There's one that I can't remember the name of which lets you choose profiles based on your mode of transport.
If you find that details are missing, you can use apps like Street Complete and MapComplete to fill in the blanks 👍
I haven't used that one. I've checked, and it's OSMAnd~ and Organic Maps that have those options.
It's a good thing that I checked too, as I found out that some of the pavements / sidewalks in my area don't seem to allow cycling, when there shouldn't be a restriction, and the walking routing seems to take a longer route now and then.