At least for the 6S Plus, Location Service is the function that kills the battery life the fastest.
I remember GPS power usage was a big deal on the 6S. Subjectively would say it's much less so on a 15 Pro. Ditto Facetime video. My hypothesis is that everything gets more power efficient over time. Antenna, chips. I keep always on display on but have configured it with a mostly black design and leave face down on the table or put back immediately in pocket. So it's rarely on and better than "turning on" the display. The only times I would worry about multi-day power usage (which also might require GPS navigation) would be when travelling. Always keep a small powerpack in cargo pants (together with charger) and then try not to use it. Peace of mind.
Battery life for heavier usage has been an issue even on original iOS versions for devices smaller than the Plus. By the time Plus iPhones debuted (solidified with the advent of the iPhone Xʀ), battery life has been a non-issue even with some GPS usage (on original iOS versions only).
The iPhone 6s suffered a lot with GPS usage, even on iOS versions like iOS 9 and 10 (I should know. I used a 6s on iOS 9 for three years and have been using - and still have - an iPhone 6s on iOS 10 for almost 8 years), but it was pretty good with light to moderate usage on those iOS versions.
Every larger battery iPhone that suffered for heavy usage afterwards did so solely due to iOS updates, not the device itself. The 6s Plus was great even with GPS usage on iOS 9 and 10. This is no longer the case on iOS 15.
But as long as you respect the device’s original iOS version and avoid heavy usage, I’d say everything since the iPhone 6 on iOS 8 has been manageable. Yes, they did not have the overhead for very heavy usage. Those users perhaps needed a Plus, but for the rest, all iPhones have been great since the iPhone 6.
The 5s even with optimisation and its original iOS version was poor on LTE - I used one for a while. Even my efficiency that gets me 18.5 hours on light Wi-Fi use on my iPhone Xʀ on iOS 12 wasn’t enough to extract good numbers for the 5s. Everything else should be okay.
People who complained about 4.7-inch iPhones on original iOS versions (especially the iPhone 6 and 6s), had usage patterns that do not correlate with what the device can give. No, it cannot do high brightness GPS use with LTE, even on iOS 8 or 9 or 10. As long as you don’t have ridiculously high expectations, it should be okay.
Not that any of this matters nowadays though, the vast majority of 6s and 6s Plus have been obliterated into uselessness thanks to iOS 15, but it’s still worth noting.