The correct format, at this time, to produce a general link that goes directly to correct google place is: https://maps.google.com/?cid=[place_id]&t=[maptype]
The map type parameter "t" is apparently necessary. Without it, google maps seems to perform a more general search when the link opens that is sometimes successful and sometimes not. With it, maps opens to correct place each time whether it opens in browser or in app on mobile.
Set this parameter to "m" for a street map and "k" for a satellite map.
A lot of answers on SO show the following syntax which often pulls unwanted results if two locations of the same name are nearby e.g.:
https://www.google.com/maps/place/Starbucks/@43.088554,-88.06579,17z/
If you are already using google places api, then you have the place_id, so i recommend using it to avoid ambiguity.