Mapping point to point

I wreck Mario out of the gate every time I try to race him against the grandkids. Needless to say I'm not a fan of mapping an area with Yarbo app or controller. The parameter of my property is mostly straight lines. It would be helpful to me to drive or better said zigzag to points and have the mapping software connect the locations. Though I will still need to navigate small portions to close the parameter of the mapped area. Please put on your thinking cap and get this done, it will be greatly appreciated.