Our DM is having a hardtime setting up maps, story wise she said it's ready but the maps is taking her a really long time.

If making maps seems to be such a hard problem, you could try using a system not dependent on maps.
Personal recommendation of mine are Powered by the Apocalypse Games, like:

• Dungeon World (rules freely available here - you'll find some similarities to DnD)
• Fellowship

But you may also use a generic system, like FATE Accelerated (which is freely available here)

My friends are pretty lazy on weekends, understandable since we had a long work week. So they usually potato at home on weekends. I know that roll20.net exists and we can totally do it online, But we prefer to be in the company of our friends with our dices and on a table.

Try roll20 to get people started. I personally like meeting in person, way more, than playing via the internet, but sometimes not leaving your home is the simpler solution.
Once your players are invested, they might overcome themselves to attend in person, too.

Personal recommendation, if all of you know each other from real life: Everyone should use video-chat instead of just voice-chat. Get a web-cam (cheap ones start at … 20$? – if you have a laptop you most likely already have one!) and see each other while playing.
It's a big help while GMing, because you can see your players facial expressions, and emotions more easy.
Plus, it's closer to playing together in person, than just voice.