Your GO recognises many more words than just the ones you see in the list of commands, so try some of your own words. You can say other words that have the same meaning, for example you can say the following words:
"OK", "Correct" or "Right" instead of "Yes" when you want to confirm what you said.
"Navigate to", "Look for" or "Nearest" instead of "Drive to" when you want to drive to a petrol station.
"Cancel" or "Delete" instead of "Clear" when you want to clear your current route.