Day to day location sharing app for IOS and Andriod - not Google, not Life360

Are there any options that offer secure, E2E encrypted sharing of location for day to day use like Find My? I recently switched to Android and my husband uses Apple still and we are trying to find a way to share our location for safety but don't know where to start as we don't want to use Google services or Life360. Any recommendations? TYIA (: