Thanks everyone for their ideas - I can't see any location sharing (i.e. my wife and I being able to see each others location) in OSMAnd though.
I'm testing out NextTracks (OwnTracks sans Googlestuff) with self-hosted OwnTracks Recorder and it seems pretty hopeful. It's giving me ideas of prototyping some pet tracking devices too...very nice!
@pswilde the osmand function is actually a separate app called "osmand telegram". It shares location data via a telegram channel.
I'm not sure that's a great idea, the self-hosted nexttrack sounds like a better approach.
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