I do have a 510 although it has been many years (maybe 7/8/9) since I used it, don’t know if it even turns on now, preceded by a tiny 200 but succeeded by a 520, 530 and now 1040 (costing slightly more than a tenner). From memory the 510 does not have a “map” although I do recall hacking it to put on a very small OSM map which never worked properly and made the device very unstable. It does display a breadcrumb route of a loaded GPX or TCX route, can’t recall if it supported .FIT routes. It (I think) supported two forms of “turn-by-turn” , one based on an algorithm used by lower end Garmin devices of the day which did not have routable maps. This version analysed the breadcrumb and determined any change in direction over some limit (90 degrees?) was a turn to be notified, it did not work very well, would miss some real turns and notify you about bends in the road it thought were turns. Disable this option by disabling Turn Guidance or similar wording.
Much better** to use the second option which is to use the “Cue” entries in the TCX otherwise known as Course Points, the text in the file you posted. This will give you a notice as you cross the position of each course point, but it may be delayed depending on the GPS accuracy, not great in 510s. **Actually viewing the navigation video after all those years the first method might be better than I remember and it works with a GPX as well.
You should be able to still find a pdf if the user manual online and this will help. I used the 510 on many (dozens) of Audax 100, 150, 200 rides and I can’t recall it getting me lost. If all else fails just follow the breadcrumb.
Having said all that it is a OLD device and the battery might now not even last a 100. Certainly play with it as a learning tool but if you really get into Audax then a newer version will be a huge asset, 530s are button only interface and should be cheapish as they have been superseded by 540 in last 6 months. If you “really” get into it I would recommend a newer touch screen model, at least a 830. Good luck.
PS
https://www8.garmin.com/manuals/webhelp/edge510/EN-US/Edge_510_OM_EN-US.pdfAnd pay attention to the “Course Pt. Dist.” Data field
AND…These videos might be handy (VeloGPS 510 Playlists)
https://www.youtube.com/playlist?list=PLwZvUUCaBp9AfzE86s4IybBWM0iW90k5X