Wilflower
It's true that Open street map content may occasionally pale in specific comparison against specialized sources. Chances are you may be able to insert and download livetiles of those specialized sources into Osmand.
For exemple in France it works with the IGN (national map institute). You can also use/download Google HD sat tiles behind OSM roads to get better visualizations
Osmand can highlight and classify hiking routes, provided that OSM has the data for it. And seriously, it should.
When you planify a route in the "Explore Map" profile you get straight lines between checkpoint, but as soon as you switch profile in the task bar it should try to stick to the nearest sensible path according to the selected profile.
You may then tweak the proposed path with a bunch of parameters inherited from the profile settings or based on temporary preferences (exclude/include types of road, prefer straight/flat/balanced path etc).
Once you are on your way, you can also tweak the "stickiness" of your trajectory to the path. Wen I go hiking I like to have this parameter totally disabled + a very short "recalculate if away from path by x meters".
Finally Osmand has an addon downloader module where you can get cool stuff, such as hiking specific map visualizations (very useful and clean looking), and up to date links to connect to a shit ton of livetiles services.
PS: if you don't find something in Point of Interest categories you can try to type words as it was a search engine, you may be surprised the crazy specialized POI stuff OSM has in store.