There’s probably a better way to do this, but I’ve just started using BLE Radar (F-Droid, Play Store), which can be set up to (among other things) tell you where your phone last saw a particular bluetooth address.
You don’t get the benefit of the tracking network that iPhones, and now Androids, are a part of, and it’s not built into the base system, but it’s FOSS, and your location data stays local.
When I drove rideshare, I loved the quiet passengers. I honestly had to talk so damn much to everyone else, it felt like a break.