I was frustrated that Apple Find My would always only show the live location - so I wrote a small little app that polls the location of my devices every now and then and saves it to a local database.
I also give you a web interface to view the historical timeline of each device.
By default it's randomly polling between every 7 and 10 minutes, but I set it to poll between 3 and 7 minutes personally - still haven't been blocked.
I can't say what the best aggressive polling interval is... I just wouldn't want to deal with Apple blocking my account so it's set to something "conservative" by default.