Now you can have a new feature from Google for importing custom maps. The name of the feature is Google City Tours, which generated walking tours for important cities. You can go to the importing page and select one of your maps, after logging to a Google Account.
Moreover, this would be the most useful service if you could customize a tour by recording sights and defining constraints. At the same time, Saving tours, sharing and printing tours are missing features.

In addition, Google City Tours will most probably become an important feature of Google Maps that will let you find more about your cities and plan trips.

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