I’m not sure if you’ve heard of Paralino, but I’ve been using it and I’ve been happy with it so far.
Unfortunately, it’s not open-source, but it’s more privacy-oriented, end-to-end encrypted, can be installed with an APK, and subscriptions can be bought outside of the app stores.
It’s not exactly the perfect solution that you’re asking for, but it’s a huge step up from Life360.
I’m sure they’d be surveiling us regardless. I’ll keep using my VPN.