The sticky notification is required to indicate the app is active in the background. But, it can’t prevent the app from being killed by removing it from the latest apps list. It’d be better to just close the app properly, with it’s own methods (Back button, Exit menu option, Exit background button, or Exit button in the notification). Am I misunderstanding the problem here?

I guess it is not a big problem until you accidentally clear apps. Possibly app can be opened automatically with some automation app like Automate when closed during the ride. Thank you for your quick answer.