Hi Lee Ann!
One of the apps mentioned in the video tip is the 5-0 Police Scanner. The iPhone version shows it has a built-in map:
https://apps.apple.com/us/app/5-0-radio-police-scanner/id356336433
Keep in mind it just shows the location of the feed itself, not the event. We are not aware of any scanner apps that map incidents as they are happening and mentioned on the scanner.
This particular app also lets you listen to feeds in the background, so if you just want to keep using Google Maps for navigation you can do so while still listening to the scanner.