What about locus maps? I did not look into the location sharing but there are many options according to https://docs.locusmap.eu/doku.php?id=manual:user_guide:functions:share. It is a paid App but it is really great. I use it all the time for hiking.
Edit: There is also owntracks (https://owntracks.org/) which loggs your location history. The Website can than be shared with whom you like.
Very nice. Searched some time for a GW replacement but none fullfilled my needs like this!