Nextcloud and Phonetrack maybe? https://github.com/julien-nc/phonetrack
Privacy
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I wish this had the feature set I was looking for. Either like life360 where I have circles and we have group location shares. Or like findmyfriends where its per person based. The per person one seems like it would be possible with a little bit of MQTT or something.
Following
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I saw what I think was a plugin for osmand that would share your location in real time via telegram. Took a look, it looked okay, but people I know don't use telegram (or osmand - not necessary but helpful) so forgot it. Sorry, I can't find it now within osmand or fdroid!
There's a few location sharing apps in fdroid, maybe one of them could be an option? Dunno about iOS support, but the way the telegram/osm one worked is the receiver could have it link through to osmand or just click the link in telegram to see the map location online.
Osmand does have a generic facility for location uploads: within the track recording plugin. You can self-host a custom solution that takes a URL input to log a location point. Sorry, that's probably more work than you want! I certainly gave up on it!
Traccar, open source self hosted solution: https://www.traccar.org
Alternatively: Hauk
(No idea how they compare)
It seems that Hauk project is abandoned. Las commit was 2 years ago.