Eh it depends on a lot more factors. Perhaps at the most extreme side of the first time you take a new route.

I use a GPS all the time, but only because it also shows me traffic, red light cameras, and potential hazards. I memorized the route after the first 2-3 drives but I keep using the gps for the amenities.

That said, I’m old enough to have used printed map directions and my time in Boy Scouts gave me the skills to read a paper map too.