Can I access my kid's phone location history remotely?

My teenager has been going out with friends more often and I want to make sure they’re safe. I’ve checked the standard settings on their Android phone, but is there a way to secretly see places they’ve been without them knowing? I heard about Family Link but not sure if it shows past location history.

Family Link shows current location, not past. Spying on past locations without consent is complicated and may violate privacy laws.