In Workforce you create an assignment (location) and that location is used to send to Navigator which will calculate the route. Generating a route in Navigator can be done using the instructions found here: GitHub - Esri/navigator-integration: Multi Language repository that contains documentation and sampl...
As far as I know in Survey123 when you enter a survey you create the feature (normally at the location where you are at that moment). So where would you want to navigate to? If you have a list of locations where you want to do the survey than I guess it would be possible, but that list would be the basis to navigate to the location, and there would not be a direct integration. Can you explain a little more about your use case?
In Collector I can imagine that this would be possible to do without Workforce. You would work over existing features, and each feature would have a URL that contains the link to Navigator and the location information (coordinates or address).