In my knowledge the best aproximation of $\sin$ and $\cos$ is Bhaskara approximation which is : $$\sin(x) \simeq \frac{16 (\pi -x) x}{5 \pi ^2-4 (\pi -x) x}\qquad (0\leq x\leq\pi)$$ and $$\cos(x) \simeq\frac{\pi ^2-4x^2}{\pi ^2+x^2}\qquad (-\frac \pi 2 \leq x\leq\frac \pi 2)$$
what is the best approximation of $\cos(x)$ for $ -\pi\leq x\leq 0$ (by a regular function ) ?
There is no such thing as a "best" approximation for a function, there are always minor tweaks you can make to produce better approximations.
However, to your question, you can massage the approximation you gave by noticing that $$-\pi\leq x\leq 0 \iff -\frac \pi2\leq x+\frac \pi2\leq \frac \pi2$$