The two permission sets that an admin must assign to a sales rep to enable their location tracking are SF Maps and SF Maps Live Mobile Tracking. These permission sets grant access to the Salesforce Maps app and the Salesforce Maps Live feature, which allow users to activate and deactivate live location tracking through their mobile device. The admin must also assign the corresponding permission set licenses and a Maps Permission Group with the Enable Live Mobile Tracking permission. This is explained in the Enable Live Location in the Maps App document.