There is an app, OSMand, that is used for offline map and GPS navigation but an additional educational feature is that you can download a Wikipedia plugin for it. Ever notice that many Wikipedia pages have coordinate data attached to them. The plugin will show a symbol for each of these. So you can set OSMand to show Wikipedia sites. Then as you walk by a feature marked with a Wikipedia icon you can click the icon to get a description of the site. The app can be configured to show just icons with an English description or to show icons for sites with either English or native language pages. For example, if you are using just English you might get icons showing up at cathedrals and towns but if you set this feature more broadly you may get the cathedrals and towns but also other stuff in Spanish, Galician, etc. entered by the local Wikipedia editors such as churches, villages, birthplaces of local heroes, sites of not-so-famous battles, etc.
The OSMand app is free with a limited amount of downloads of mapped regions so you can try it out. It is cheap to buy and you get an unlimited number of maps. Unfortunately there are some OSMand features that are complicated. If you are looking for something similar for navigation (no Wikipedia feature) you may prefer maps.me.
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