I think putting an identifying icon inside the black waypoint indicator would be a good option. I would have a hard time trying to remember what kind of shape or color indicates which type of waypoint

I would like to color code way points for my trips, such as: National Parks, State Parks, restaurants, family/friends, optional stop if time allows, historic, overnight stay, etc. so I can visually grasp what stops are where without having to click on way points I don't remember.

I agree

agreed, i was going to suggest the same thing until I found this