Which live location sharing service is recommended?

None of them, you want live location sharing and privacy in the same sentence, that is a fundamental contradiction.

It seems like every time these types of location tracking apps are mentioned, there is always someone that says something like this. I guess I’ll be the one to explain it this time that wanting to share your location with someone you trust (such as a loved one), or to use it to locate your own personal device, doesn’t mean you want to share this location data with others that you don’t trust.

You’re confusing privacy and anonymity.

Privacy

Privacy is the assurance that your data is only seen by the parties you intend to view it. In the context of an instant messenger, for example, end-to-end encryption provides privacy by keeping your message visible only to yourself and the recipient.

Privacy Guides

What is Privacy? - Why Privacy Matters - Privacy Guides

In the modern age of digital data exploitation, your privacy has never been more critical, and yet many believe it is already a lost cause. It is not. Your privacy is up for grabs, and you need to care about it. Privacy is about power, and it is so...

By that definition, there is nothing inherently anti-privacy about location sharing apps. What matters more is how they’re implemented.