When one of your trusted contacts requests your location and you don't respond, your location will automatically be shared after a certain timeout. You can modify this timeout to be between 5 minutes and 1 hour, or you can allow your location to be shared immediately.
Open the Trusted Contacts app.
Open the side menu by swiping from the left side of the screen or pressing the menu button at the top left, and tap Settings.
Tap Time limit for location requests and choose a new time limit.