You have to load a custom ROM if you don't want to be tracked without your consent. You have a crumb more freedom on Android, that's all.
On iOS you can have the above without giving them your location 24/7
The difference is you don't have to give your location to anybody on Android, while Apple makes you give them your location. You don't have to tell anybody that you installed an app on Android, while Apple knows every app you've installed and when you used each one.