There is Bing Maps which has "Streetside" maps, however it does not support creating custom maps. Other than that, there might be some stuff in the Mixed Reality space/hololens, but I suspect that's heading in a different direction from what you are looking for.
If you are looking for a Google Maps streetside alternative that supports creating custom maps/scenes, Mapillary would fit that description, and it is also free: https://www.mapillary.com/ and here is their info on it being free: https://help.mapillary.com/hc/en-us/articles/360020754199-Pricing