Mapopolis is what you are looking for. It supports GPS cards on the Axim and has driving directions included.
The software is free and you pay for the maps. IMHO, the maps and software are of a much, much higher quality than the maps from Pocket Streets 2003. This might be because of my Canadian location but Pocket streets divided my city along borough lines in indivdual maps. The maps didn't match up to the neighbouring ones.
Mapopolis gives one large map that scrolls really cool and has a lot of businesses and points of interest.
Check it out:
http://www.mapopolis.com