Yes it remembers, but I think you have to press the "I accept" button for it to give you the verbal ques. It has been a week or so since I actually used the route feature, and I did make a couple stops on the way.

Also if you know where a stop on the route is, and you take a detour, it will automatically calculate a new route to your final destination after you have gone a bit past your "mistake" in the original route. It will keep recalculating until you get back on what ever route it thinks you should be on.