not sure if you solved your problem yet. By waypoints are we talking about points of interest, ie your cache location, or do you actually mean waypoints (in which case i'm not much help).
If you are a premium member of geocaching you can load the caches into a gpx file. Once you have the gpx file use the garmin custom poi loader to install the poi's on your phone. When you click 'Where to?' on your phone your caches should be under 'Extra'.
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