OK cristianyxtl this is another issue
Map POIs and POIs coming from KMLs in POI search menu.

After choosing: New route to... -> Places --> Search by name or Category you see only KML POI categories.
You can't see any POI Map Category in order to choose this specific category (like Gas stations, Shops, Medical, Restaurant etc.) as you correctly pointed out.
An option to see both POI details (KML and Map POIs) is by pressing the Show All option.
But then again you see every Map and KML POI detail.
You are right. You cannot choose any MAP POI category as they are not shown in the search POI menu.
On the other hand KML POI categories are visible and can be selected in order to see a specific KLM POI category (e.g. near Gas Stations)