R has a number of packages that allow you to find the distance between points on a map.
And distance is of course a tricky thing on maps. Driving distance, walking, mass transit, etc.
If you have an example of the type of problem you're trying to solve that'd be helpful to giving you the best advice (ideally as a reprex).
As a place to start, here's a recently created package vignette that uses google maps api to calculate distances. Perhaps you can use it to help clarify what you're trying to do?
https://cran.rstudio.com/web/packages/mapsapi/vignettes/intro.html