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There are many SLAM algorithms ready for a try out. I assume you will like things to be 3D ? Then on top of my head ;

Google Cartogrpaher

HDL graph SLAM https://github.com/koide3/hdl_graph_slam

An NDT based Slam approach ; https://github.com/rsasaki0109/lidarslam_ros2

These above 3 are Lidar based algorithms. There are also Visual Slam algorithms. To best if my knowledge state of the art on that was ORB-SLAM3 , there is also OpenVSLAM which pretty robust, I have used OpenVSLAM and if visual SLAM is the way you choose I suggest you try that.

Now about GPS waypoint navigation, well GPS and SLAM are decoupled systems however in some SLAM algorithms they do include GPS data for dealing with drift errors. If you would like to do GPS waypoint navigation, you can take a look at ; https://github.com/nickcharron/waypoint_nav