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https://gpslogger.app/ open source has plenty of settings can make a GET call every x minutes to url of your choice, you can either collect data by logging GET calls on your nginx or build an API for that specifically
google android tracks location even when gps off
https://duckduckgo.com/?q=google+android+tracks+location+eve...
There's https://owntracks.org/, which has iOS and Android apps and instructions on setting up your own server. If you run NextCloud self-hosted already, there's PhoneTrack (https://apps.nextcloud.com/apps/phonetrack), which has a list of supported/suggested apps that send data back to it in a compatible format.
And, I might add, consider GrapheneOS and CalyxOS as alternative operating systems for your Pixel phone.
https://grapheneos.org/
There is an open source iOS app called Overland[0] that can continuously track your location history in the background and upload the data to an arbitrary endpoint as GeoJSON.
The "protocol" consists of a single HTTP request and response, so you can easily write your own server software to store the data however you want, which is what I did.
If you don't want to write your own backend, you can also just use the server software[1] the author of the app uses, which is also open source.
[0]: https://github.com/aaronpk/Overland-iOS