iOS 11 introduced the ability to allow apps to only access your location while you're actively using the app. Using this method should be a good mitigation.
From Apple: "When Location Services is active, a black or white arrow icon appears in the status bar."
If Waze is using it for up to 40 minutes after traveling, you need to decide if you want to know where the cops are or if you want Google to know where you are.
