Can you use field maps to drop a point location and then it opens Survey123 to fill out the form?
From memory you can do this with collector (drop a point in collector) and it links to Survey123 so you can fill out the survey via a global id.
Just for our mobile team it seems so much easier from them to actually drop the point in field maps/navigate and fill out the form in Survey123. (Noticed field maps inputs some of Survey123 forms but does not have the same functionality)