The SendOutboundMessage operation offers the ability to Include one or more destination locations facilitating Routing from current location for the Driver.
Here is an example of what the Driver will see on the ELD (click to enlarge):

 

To Include Destinations in an OutboundMessage via the Data Service:

Destinations are provided to the SendOutboundMessage operation using a specific format within a file which is converted to Base64 and included within the OutboundMessageRequest->Ext element:

1) Create an Object/String which content will be the one or more one or more destinations using the following format:

<pnts><pnt desc="" lat="" lon=""/>...</pnts>

Example, carriage returns added for readability and are not required:
<pnts>
     <pnt desc="Warehouse A" lat="40.560488" lon="-111.979588"/>
     <pnt desc="Some Place" lat="40.776239" lon="-79.529233"/>
     <pnt desc="Other Place" lat="40.756988" lon="-73.986962"/>
</pnts>

2) Convert the Object/String to Base64:

Here is an example on how to do this via C#: https://stackoverflow.com/questions/11743160/how-do-i-encode-and-decode-a-base64-string

Here is a small utility which will convert to/from File/Base64 which may be useful in testing: Base64Converter.zip

3) Include the resulting Base64 string value in the OutboundMessageRequest:

Destination data is included in the OutboundMessageRequest->Ext->Attachments element. Attachments May Contain more than one Attachment BUT you can not include more than 1 "Destinations.loc" attachment
Attachment->Name MUST be set as Destinations.loc
Attachment->Content MUST be set as the Base64 value from step 2

Example Soap Request:

 

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/" xmlns:ns="http://fwapi.DriverTech.com/CommonTypes/2009/04" xmlns:dat="http://fwapi.DriverTech.com/DataService_v2" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <soapenv:Header>
      <ns:RequestHeader>
         <ns:CompanyCode></ns:CompanyCode>
         <ns:UserName></ns:UserName>
         <ns:Password></ns:Password>
         <ns:DataStoreName></ns:DataStoreName>
         <ns:RequestId></ns:RequestId>
      </ns:RequestHeader>
   </soapenv:Header>
   <soapenv:Body>
      <dat:SendOutboundMessages>
         <ns:OutboundMessageRequests>
            <ns:OutboundMessageRequest LUID="1">
               <ns:CommunicationRecipients>
                  <ns:Trucks>
                     <!--Zero or more repetitions:-->
                     <ns:Truck id="?">
                        <!--Optional:-->
                        <ns:TruckName>?</ns:TruckName>
                     </ns:Truck>
                  </ns:Trucks>
                  <!-- OR -->
                  <ns:Drivers>
                     <!--Zero or more repetitions:-->
                     <ns:Driver employeeId="?" id="?">
                        <!--Optional:-->
                        <ns:Logon>?</ns:Logon>
                     </ns:Driver>
                  </ns:Drivers>
               </ns:CommunicationRecipients>
              <ns:OutboundMessage>
                  <ns:StandardMessage>
                     <ns:FreeFormMessage>
                        <ns:Subject>Send destination example</ns:Subject>
                        <ns:Body>Body text</ns:Body>
                     </ns:FreeFormMessage>
                  </ns:StandardMessage>
               </ns:OutboundMessage>
               <ns:TransmissionMode>Cellular</ns:TransmissionMode>
               <ns:CorrelationId>101</ns:CorrelationId>
               <ns:Ext>
                  <ns:IsImportant>false</ns:IsImportant>
                  <ns:AttachmentsSendCellular>true</ns:AttachmentsSendCellular>
                    <ns:Attachments>
                        <ns:Attachment>
                            <ns:Name>Destination.loc</ns:Name>
                                <ns:Content>PHBudHM+DQo8cG50IGRlc2M9IldhcmVob3VzZSBEb2NrIEEiIGxhdD0iNDAuNTYwNDg4IiBsb249Ii0xMTEuOTc5NTg4Ii8+DQo8cG50IGRlc2M9IlNvbWUgUGxhY2UiIGxhdD0iNDAuNzc2MjM5IiBsb249Ii03OS41MjkyMzMiLz4NCjxwbnQgZGVzYz0iRGVsaXZlciBIZXJlIiBsYXQ9IjQwLjc1Njk4OCIgbG9uPSItNzMuOTg2OTYyIi8+DQo8L3BudHM+DQo=</ns:Content>
                        </ns:Attachment>
                    </ns:Attachments>
               </ns:Ext>
            </ns:OutboundMessageRequest>
         </ns:OutboundMessageRequests>
      </dat:SendOutboundMessages>
   </soapenv:Body>
</soapenv:Envelope>