I use osmand and send simple plaintext coordinates: 45.89873° N, 15.94801° E
If you mean continuous location sharing, there's a tracker plugin for osmand which (sadly) uses Telegram. Haven't tried it, but if it's encrypted (as Telegram chat isn't by default), could be good.
Matrix allows for time-based location sharing. The Element clients have it implemented.
Also Nextcloud with the Phonetrack application installed. I use the uLogger app on Android for 24x7 location recording and it uses less than 2% of the battery over a day.
Paralino is based in Germany. It's an end-to-end encrypted geolocation sharing app that is quite new. They said they will open source their code further in their roadmap. It's available on both iOS and Android!
I too was trying to find alternatives to these services but I could not.
I saw a github "thread" ones for organic maps, but it did not get traction... They could make it a paid service as that are trusted by the community to handle that data.
There was a new application, I do not remember the name of it... But it was using google play services which I did not add to my OS.
I found the app through howtomen's YouTube channel, let me know if you need it, I will search for it.
Edit:
If you have the skills, you could setup/self-host owntracks, which I could not do, securely.