You are correct, the Google API terms of service state in 10.1.1 point g:
(g) No Use of Content without a Google Map. You must not use or display the Content without a corresponding Google map, unless you are
explicitly permitted to do so in the Maps APIs Documentation, or
through written permission from Google. In any event, you must not use
or display the Content on or in conjunction with a non-Google map. For
example, you must not use geocodes obtained through the Service in
conjunction with a non-Google map. As another example, you must not
display Street View imagery alongside a non-Google map, but you may
display Street View imagery without a corresponding Google map because
the Maps APIs Documentation explicitly permits you to do so.
The access to the Google APIs was until iOS 6 transparent and accessed via the MapKit framework by Apple, who handled all the licensing, fees etc for us the developers, we didn't need to worry about this.
Now that Apple are using their own mapping service, we don't have access to Google APIs via the MapKit framework, like you say, and routing isn't possible with MapKit in the way you want to use it.
So you must keep the communication with Google, but the problem is now you will be using Google data without a Google Map.
This is a problem, and if your app's popular, and Google realise, they may choose to make a problem with you.
There isn't a correct way around it for now, some apps are tiling Google maps onto Apple maps, but then you will need to register your app with Google for an API key I assume, which limits your number of requests and potentially you may have to pay Google for the API usage.