How to select and add points of iterest on Map View?

How to select and display for example restaurants as points of interest in the displayed area in Map View?

What does the Option “Disable Points of Interest” On/Off actually do?

Google Maps when you select explore shows points of interest.
How to put Map View in “explore mode”?

Also, Google Maps now offers the following category buttons on top of the Map:
Takeout, Delivery, Gas, Groceries, Pharmacies, Coffee, … more

How is it possible to access in Map View?