Hey Kristen,
That is a great question and you’re not the first person who’s asked it. I’ve it to my list of upcoming articles to write. The short answer is yes – you can use Share My Location to track the location of your children. I believe the simplest way is for you to send yourself an iMessage from your child’s phone and choose to share their location with yourself. You can choose to share it indefinitely, and I believe that’s what you’re looking for. There are some other factors too, and I’ll get into the details in the article I’m writing.
Thanks for writing and I hope this helps to steer you in the right direction,
David P.