How do I find restaurants, gas stations, etc. along a route in Maps?

One of the best new features iOS 10 adds to the iPhone's Maps app is the ability to find restaurants, gas stations and coffee shops along your route. To use the feature, simply swipe up on the status bar at the bottom and select Gas Stations, Dinner or Coffee. When you select one it will give you a list of all such places along your route and approximately how much time will be added if you choose to stop at one. Tap on a location to add it to your route.