As seen in Dark Horse's Star Wars Tales anthology series, a short story saw Luke facing Maul shortly after the fall of the Empire. However, this version of Darth Maul's revival was very different from the one that would eventually occur during the canonical Clone Wars animated series.
Obi-Wan Kenobi believed Luke was the Chosen One, viewing him as the galaxy's last hope to bring balance to the Force and fulfill the prophecy. Maul, despite being Obi-Wan's enemy, also believed in Luke's status as the Chosen One, dying with the belief that Luke would avenge them in the future.
As much as fans would probably want to see Luke win this matchup, it is pretty unlikely. Luke is strong with the force, something Maul struggles with. He is so focused on his hatred that his Force sensitivity evades him. But when it comes to lightsaber combat, Maul is the definite winner.
The two were able to free Maul after he had been interrogated by the Sith Lord Count Dooku, and together the three rendezvoused with more Death Watch forces on the moon of Zanbar. Maul took command of his forces once again, and assured them that the war they had longed for was at hand.
Regardless, based on the season 7 of The Clone Wars, and the fact that Darth Maul was aware of Anakin Skywalker's future and his role as the Chosen One, it is very likely that Darth Maul indeed feared Darth Vader to some extent, and preferred to avoid a direct confrontation with him, at least, on his own.
When Qui-Gon was killed by Darth Maul, Dooku was so saddened that Qui-Gon's death lead to Dooku's transformation into the Sith Lord Darth Tyranus. He would later provoke the memory against Obi-Wan Kenobi, Jinn's apprentice.
It's already been shown in the source material… more than once… that Darth Maul is not on Darth Sidious's level. Every time he dueled Sidious as his apprentice (in Legends) he got easily defeated.
The duel. Darth Vader defeats Darth Maul. The two Sith Lords engaged in a lightsaber duel, going through the volcano and onto a bridge situated over a river of lava, which collapsed, though they both survived and continued their battle.
By the time of Episode 3; Anakin is in his prime, and already one of the Jedi Order's most powerful “masters” (although technically still a knight), just behind Obi-Wan, Windu, and Yoda. Maul wouldn't stand a chance.
After a period of tension, Maul strikes first but is quickly countered and defeated by Kenobi. Before Maul dies, Kenobi stays by his side and reveals to him that he is watching over whom he believes is the Chosen One, with Maul's last words being, "He will avenge us". Ezra and Chopper return to base on Maul's ship.
There are two components to the Chosen One prophecy; their origin, and their mission. The Chosen One is a specific individual who shall be "born of no father." Rey's father may have been a failed clone of Palpatine, but he was a father nonetheless, and thus Rey cannot meet the criteria to be called the Chosen One.
Sidious revealed to Maul that he did not intend to kill his former apprentice, as he still had use for Maul; it was Sidious' hope that Maul would lead the Sith to Mother Talzin, Maul's mother and the leader of the Nightsisters, so she could be eliminated as a potential threat to the eventual Sith rule of the galaxy.
What we do know is he knew that the clone wars would happen, he says that in the clone wars. This means that he most probably knew about the clones and order 66. He doesn't know about anikin until about a week before order 66.
Maul most likely knew Sidious' double role as Palpatine and Sidious when he served as Palpatine's apprentice. He definitely knew about Palpatine's goal of creating a galactic empire ruled by the Sith. Maul knows that Sidious is the Emperor.
Why did Dooku turn to the dark side after Qui-Gon died?
In addition, he revealed that he thought of the Jedi Council as being at least as responsible for Qui-Gon's death as the Sith who had killed him, and that it was their perceived short-sightedness and obstinacy which had truly lead him to leave the Order.
The duel was a brief but fierce skirmish, with Maul gaining the upper hand as soon as he leapt into action. Maul's terrifying combination of agility, anger and ferocity surprised Qui-Gon Jinn, who seemed to tire as the battle went on.
