Not directly intended for this, but I use a self-hosted Home Assistant server for this. My wife and I both use it for home automations, and the phone app can report its location back. We can see where each other is on the map, as well as a 24 hour (configurable) location history.

To be honest I skimmed just of this, but the way my phone screen resolution caused line breaks I got to see the words “sususudododo baby” and that alone made me giggle.