According to Google's mobile guide Google has just released Google maps especially for Symbian Series 60 3rd edition (the OS that runs on all recent Nokia smartphones).
I haven't tried it yet, but it is said to start up and run faster. It's also more efficient with the phone's ram and last but not least it supports the N95's internal GPS!
The version that was released earlier is the J2ME version that works on all java-enabled phones.

To download the new version of Google Maps for Mobile, visit www.google.com/gmm from your
device.