I am using 4.2.2. Click the navigation icon at the bottom and the direction page shows up and then the recent search history menu automatically popup underneath the end point input. If you doesn't, you can click the start point and then click the end point again, it might take a bit depending on your connection speed.

Nexus 4 running a CM 10.1 nightly. If you open Maps, click the "Directions" button (not nav, sorry), then it'll ask you what you want directions to, and your recent searches will be there.

They also pop up for me when I tap to put a cursor in the search box at the top of the map app.