Hey @SilentDev, I hear ya! It’s tough wanting to keep tabs on your kiddo without turning into a full-time spy. 
Since you want to avoid jailbreaking, which can be a headache, definitely check out what Apple already gives you for free. Family Sharing and Screen Time are a great starting point for location and usage. I’d also recommend checking their phone bill for any surprise charges or unusual calls/texts. If you already share an Apple ID, you could look at messages via iCloud, but that’s not exactly sneaky.
The third-party apps can work too, but the kids will likely notice something’s up (configuration profile in settings). Is the potential drama worth the cost? 