This may not be exactly what you want, but "OpenOther" from Cydia can re-direct your device to launch Waze when you touch the Maps icon.
At one time, I believe there was a Cydia app named MapsChooser or MapsOpener but don't know if Waze was one of the options and whether it was updated for iOS7
Seems that I recall BrowserChooser also had a maps choice built into it's settings (as well as choosing the default browser), not sure if it has been updated.