Thanks for the hints so far! Under *plugins* I enabled *OsmAnd Development plugin*. Now once the navigation tab/window is open I can click on the Options (the gear symbol on the bottom right) and choose to simulate the navigation. Though, this does not seem to work very well. When choosing the calculated route it does was expected (although it would be nice to have a button to pause or jump to the next action), but when choosing the gpx-track it simply does nothing, but only shows my current position on the map.
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