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With iOS 13, Apple removed the "Always Allow" option from that prompt. If you really want to always allow location access, you'll have to go to the system settings and enable it. You'll also get the "App XYZ has used your location in the background 123 times in the last three days, do you want to continue allowing this?" prompt along with a map of where the app requested your location.

According to the article, that really works.

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