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I use my Garmin gps for that, for me it's just easier. Turn it on and starts tracking mileage.

What I am actually looking for is a way to download the addresses only once.

In other words:  I download (for example) 8 addresses into Streets. Streets then determines the best route to take for those eight addresses.

Then, I usually have to type those addresses into a seperate spreadsheet so I can keep track of the addresses and miles that I put on that day for tax purposes. I'd like to be able to export or download the addresses and mileage directly from Streets into my Excel spreadsheet or other form but can't figure out how to do that.

You're going about it backwards. Begin with the spreadsheet, then import it into streets & trips. You then have a spreadsheet that you can use to track your receiveables. Use new tabs when you get new claims, and import only those tabs. Optimize stops, add stop times, and you've got an excellent tool for scheduling also. Send me a message and I'll walk you through it if you want.