As tastrax said,
QGIS (or any GIS software) should be able to handle this. In particular producing comprehensive maps with scale bar/ratio, legend, coordinate system, title, etc is something that they excel at. And QGIS is free.
If you wanted to do it all on a mobile device,
Bit Map can do this, but it's map (image) exports are much simpler (no legend, coordinate system or title included, and only a very simple scale bar). And I'm biased, since I'm the developer. It's not free, but is inexpensive.
Having said this, if I want to create a quality map for print or PDF (or JPEG or PNG), I usually use
ArcGIS on Windows (because that's what I have at work) or QGIS (on macOS or Windows or other).
QGIS, ArcGIS and Bit Map all require you to select a Base Map to use as the background map for your output. ArcGIS has a wide variety of basemaps available by default, but it's very expensive software. I don't think QGIS has any configured by default, but it can use any of the many free maps available online that use agreed standard mapping formats (such as WMTS). Bit Map has OpenStreetMaps configured by default, but this isn't really suitable for bushwalking maps, but it can also use many of the free maps available online that use agreed standard mapping formats (such as WMTS).
Is there a particular basemap that you wanted to use? As tastrax mentioned, you need to comply with any copyright of the basemap if you plan to distribute your outputs.