diff --git a/changelog.d/6642.misc b/changelog.d/6642.misc
new file mode 100644
index 0000000000..a32b20716a
--- /dev/null
+++ b/changelog.d/6642.misc
@@ -0,0 +1 @@
+[Location Share] Open maximized map on tapping on live sharing notification
diff --git a/vector/src/main/AndroidManifest.xml b/vector/src/main/AndroidManifest.xml
index fa89013707..63c713d9e6 100644
--- a/vector/src/main/AndroidManifest.xml
+++ b/vector/src/main/AndroidManifest.xml
@@ -377,7 +377,7 @@
         </service>
 
         <service
-            android:name=".features.location.LocationSharingAndroidService"
+            android:name=".features.location.live.tracking.LocationSharingAndroidService"
             android:exported="false"
             android:foregroundServiceType="location" />
 
diff --git a/vector/src/main/java/im/vector/app/features/location/LocationSharingFragment.kt b/vector/src/main/java/im/vector/app/features/location/LocationSharingFragment.kt
index 17e53e63d1..ca524a0126 100644
--- a/vector/src/main/java/im/vector/app/features/location/LocationSharingFragment.kt
+++ b/vector/src/main/java/im/vector/app/features/location/LocationSharingFragment.kt
@@ -42,6 +42,7 @@ import im.vector.app.features.home.AvatarRenderer
 import im.vector.app.features.home.room.detail.timeline.helper.MatrixItemColorProvider
 import im.vector.app.features.location.live.LiveLocationLabsFlagPromotionBottomSheet
 import im.vector.app.features.location.live.duration.ChooseLiveDurationBottomSheet
+import im.vector.app.features.location.live.tracking.LocationSharingAndroidService
 import im.vector.app.features.location.option.LocationSharingOption
 import im.vector.app.features.settings.VectorPreferences
 import org.matrix.android.sdk.api.util.MatrixItem
diff --git a/vector/src/main/java/im/vector/app/features/location/LocationSharingServiceConnection.kt b/vector/src/main/java/im/vector/app/features/location/LocationSharingServiceConnection.kt
index 3be73e9fd4..9e905060d9 100644
--- a/vector/src/main/java/im/vector/app/features/location/LocationSharingServiceConnection.kt
+++ b/vector/src/main/java/im/vector/app/features/location/LocationSharingServiceConnection.kt
@@ -22,6 +22,7 @@ import android.content.Intent
 import android.content.ServiceConnection
 import android.os.IBinder
 import im.vector.app.core.di.ActiveSessionHolder
+import im.vector.app.features.location.live.tracking.LocationSharingAndroidService
 import im.vector.app.features.session.coroutineScope
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.flow.launchIn
diff --git a/vector/src/main/java/im/vector/app/features/location/live/map/LocationLiveMapViewActivity.kt b/vector/src/main/java/im/vector/app/features/location/live/map/LocationLiveMapViewActivity.kt
index c0f07dba57..fabdda49d8 100644
--- a/vector/src/main/java/im/vector/app/features/location/live/map/LocationLiveMapViewActivity.kt
+++ b/vector/src/main/java/im/vector/app/features/location/live/map/LocationLiveMapViewActivity.kt
@@ -24,6 +24,7 @@ import im.vector.app.R
 import im.vector.app.core.extensions.addFragment
 import im.vector.app.core.platform.VectorBaseActivity
 import im.vector.app.databinding.ActivityLocationSharingBinding
+import im.vector.app.features.MainActivity
 import kotlinx.parcelize.Parcelize
 
 @Parcelize
@@ -59,10 +60,15 @@ class LocationLiveMapViewActivity : VectorBaseActivity<ActivityLocationSharingBi
 
         private const val EXTRA_LOCATION_LIVE_MAP_VIEW_ARGS = "EXTRA_LOCATION_LIVE_MAP_VIEW_ARGS"
 
-        fun getIntent(context: Context, locationLiveMapViewArgs: LocationLiveMapViewArgs): Intent {
-            return Intent(context, LocationLiveMapViewActivity::class.java).apply {
+        fun getIntent(context: Context, locationLiveMapViewArgs: LocationLiveMapViewArgs, firstStartMainActivity: Boolean = false): Intent {
+            val intent = Intent(context, LocationLiveMapViewActivity::class.java).apply {
                 putExtra(EXTRA_LOCATION_LIVE_MAP_VIEW_ARGS, locationLiveMapViewArgs)
             }
+            return if (firstStartMainActivity) {
+                MainActivity.getIntentWithNextIntent(context, intent)
+            } else {
+                intent
+            }
         }
     }
 }
diff --git a/vector/src/main/java/im/vector/app/features/location/live/tracking/LiveLocationNotificationBuilder.kt b/vector/src/main/java/im/vector/app/features/location/live/tracking/LiveLocationNotificationBuilder.kt
new file mode 100644
index 0000000000..5ba793ea89
--- /dev/null
+++ b/vector/src/main/java/im/vector/app/features/location/live/tracking/LiveLocationNotificationBuilder.kt
@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) 2022 New Vector Ltd
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package im.vector.app.features.location.live.tracking
+
+import android.app.Notification
+import android.app.PendingIntent
+import android.content.Context
+import androidx.core.app.NotificationCompat
+import androidx.core.app.TaskStackBuilder
+import im.vector.app.R
+import im.vector.app.core.extensions.createIgnoredUri
+import im.vector.app.core.platform.PendingIntentCompat
+import im.vector.app.core.resources.StringProvider
+import im.vector.app.core.time.Clock
+import im.vector.app.features.home.HomeActivity
+import im.vector.app.features.home.room.detail.RoomDetailActivity
+import im.vector.app.features.home.room.detail.arguments.TimelineArgs
+import im.vector.app.features.location.live.map.LocationLiveMapViewActivity
+import im.vector.app.features.location.live.map.LocationLiveMapViewArgs
+import im.vector.app.features.notifications.NotificationUtils
+import im.vector.app.features.themes.ThemeUtils
+import javax.inject.Inject
+import javax.inject.Singleton
+
+@Singleton
+class LiveLocationNotificationBuilder @Inject constructor(
+        private val context: Context,
+        private val stringProvider: StringProvider,
+        private val clock: Clock,
+) {
+
+    /**
+     * Creates a notification that indicates the application is retrieving location even if it is in background or killed.
+     * @param roomId the id of the room where a live location is shared
+     */
+    fun buildLiveLocationSharingNotification(roomId: String): Notification {
+        return NotificationCompat.Builder(context, NotificationUtils.SILENT_NOTIFICATION_CHANNEL_ID)
+                .setContentTitle(stringProvider.getString(R.string.live_location_sharing_notification_title))
+                .setContentText(stringProvider.getString(R.string.live_location_sharing_notification_description))
+                .setSmallIcon(R.drawable.ic_attachment_location_live_white)
+                .setColor(ThemeUtils.getColor(context, android.R.attr.colorPrimary))
+                .setCategory(NotificationCompat.CATEGORY_LOCATION_SHARING)
+                .setContentIntent(buildOpenLiveLocationMapIntent(roomId))
+                .build()
+    }
+
+    private fun buildOpenLiveLocationMapIntent(roomId: String): PendingIntent? {
+        val homeIntent = HomeActivity.newIntent(context, firstStartMainActivity = false)
+        val roomIntent = RoomDetailActivity.newIntent(context, TimelineArgs(roomId = roomId, switchToParentSpace = true), firstStartMainActivity = false)
+        val mapIntent = LocationLiveMapViewActivity.getIntent(
+                context = context,
+                locationLiveMapViewArgs = LocationLiveMapViewArgs(roomId = roomId),
+                firstStartMainActivity = true
+        )
+        mapIntent.action = NotificationUtils.TAP_TO_VIEW_ACTION
+        // pending intent get reused by system, this will mess up the extra params, so put unique info to avoid that
+        mapIntent.data = createIgnoredUri("openLiveLocationMap?$roomId")
+
+        // Recreate the back stack
+        return TaskStackBuilder.create(context)
+                .addNextIntentWithParentStack(homeIntent)
+                .addNextIntent(roomIntent)
+                .addNextIntent(mapIntent)
+                .getPendingIntent(
+                        clock.epochMillis().toInt(),
+                        PendingIntent.FLAG_UPDATE_CURRENT or PendingIntentCompat.FLAG_IMMUTABLE
+                )
+    }
+}
diff --git a/vector/src/main/java/im/vector/app/features/location/LocationSharingAndroidService.kt b/vector/src/main/java/im/vector/app/features/location/live/tracking/LocationSharingAndroidService.kt
similarity index 82%
rename from vector/src/main/java/im/vector/app/features/location/LocationSharingAndroidService.kt
rename to vector/src/main/java/im/vector/app/features/location/live/tracking/LocationSharingAndroidService.kt
index 635c0bf87d..6babc94385 100644
--- a/vector/src/main/java/im/vector/app/features/location/LocationSharingAndroidService.kt
+++ b/vector/src/main/java/im/vector/app/features/location/live/tracking/LocationSharingAndroidService.kt
@@ -14,18 +14,20 @@
  * limitations under the License.
  */
 
-package im.vector.app.features.location
+package im.vector.app.features.location.live.tracking
 
 import android.content.Intent
 import android.os.Binder
 import android.os.IBinder
 import android.os.Parcelable
+import androidx.core.app.NotificationManagerCompat
 import dagger.hilt.android.AndroidEntryPoint
 import im.vector.app.R
 import im.vector.app.core.di.ActiveSessionHolder
 import im.vector.app.core.services.VectorAndroidService
+import im.vector.app.features.location.LocationData
+import im.vector.app.features.location.LocationTracker
 import im.vector.app.features.location.live.GetLiveLocationShareSummaryUseCase
-import im.vector.app.features.notifications.NotificationUtils
 import im.vector.app.features.redaction.CheckIfEventIsRedactedUseCase
 import im.vector.app.features.session.coroutineScope
 import kotlinx.coroutines.CoroutineScope
@@ -54,7 +56,7 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
             val durationMillis: Long
     ) : Parcelable
 
-    @Inject lateinit var notificationUtils: NotificationUtils
+    @Inject lateinit var liveLocationNotificationBuilder: LiveLocationNotificationBuilder
     @Inject lateinit var locationTracker: LocationTracker
     @Inject lateinit var activeSessionHolder: ActiveSessionHolder
     @Inject lateinit var getLiveLocationShareSummaryUseCase: GetLiveLocationShareSummaryUseCase
@@ -62,13 +64,11 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
 
     private val binder = LocalBinder()
 
-    /**
-     * Keep track of a map between beacon event Id starting the live and RoomArgs.
-     */
-    private val roomArgsMap = mutableMapOf<String, RoomArgs>()
+    private val liveInfoSet = linkedSetOf<LiveInfo>()
     var callback: Callback? = null
     private val jobs = mutableListOf<Job>()
     private var startInProgress = false
+    private var foregroundModeStarted = false
 
     private val _roomIdsOfActiveLives = MutableSharedFlow<Set<String>>(replay = 1)
     val roomIdsOfActiveLives = _roomIdsOfActiveLives.asSharedFlow()
@@ -76,7 +76,6 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
     override fun onCreate() {
         super.onCreate()
         Timber.i("onCreate")
-
         initLocationTracking()
     }
 
@@ -102,8 +101,13 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
 
         if (roomArgs != null) {
             // Show a sticky notification
-            val notification = notificationUtils.buildLiveLocationSharingNotification()
-            startForeground(roomArgs.roomId.hashCode(), notification)
+            val notification = liveLocationNotificationBuilder.buildLiveLocationSharingNotification(roomArgs.roomId)
+            if (foregroundModeStarted) {
+                NotificationManagerCompat.from(this).notify(FOREGROUND_SERVICE_NOTIFICATION_ID, notification)
+            } else {
+                startForeground(FOREGROUND_SERVICE_NOTIFICATION_ID, notification)
+                foregroundModeStarted = true
+            }
 
             // Send beacon info state event
             launchWithActiveSession { session ->
@@ -148,15 +152,24 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
     private fun stopSharingLocation(beaconEventId: String) {
         Timber.i("stopSharingLocation for beacon $beaconEventId")
         removeRoomArgs(beaconEventId)
+        updateNotification()
         tryToDestroyMe()
     }
 
+    private fun updateNotification() {
+        if (liveInfoSet.isNotEmpty()) {
+            val roomId = liveInfoSet.last().roomArgs.roomId
+            val notification = liveLocationNotificationBuilder.buildLiveLocationSharingNotification(roomId)
+            NotificationManagerCompat.from(this).notify(FOREGROUND_SERVICE_NOTIFICATION_ID, notification)
+        }
+    }
+
     private fun onLocationUpdate(locationData: LocationData) {
         Timber.i("onLocationUpdate. Uncertainty: ${locationData.uncertainty}")
 
         // Emit location update to all rooms in which live location sharing is active
-        roomArgsMap.toMap().forEach { item ->
-            sendLiveLocation(item.value.roomId, item.key, locationData)
+        liveInfoSet.toSet().forEach { liveInfo ->
+            sendLiveLocation(liveInfo.roomArgs.roomId, liveInfo.beaconEventId, locationData)
         }
     }
 
@@ -183,7 +196,7 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
     }
 
     private fun tryToDestroyMe() {
-        if (startInProgress.not() && roomArgsMap.isEmpty()) {
+        if (startInProgress.not() && liveInfoSet.isEmpty()) {
             Timber.i("Destroying self, time is up for all rooms")
             stopSelf()
         }
@@ -199,13 +212,14 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
 
     private fun addRoomArgs(beaconEventId: String, roomArgs: RoomArgs) {
         Timber.i("adding roomArgs for beaconEventId: $beaconEventId")
-        roomArgsMap[beaconEventId] = roomArgs
+        liveInfoSet.removeAll { it.beaconEventId == beaconEventId }
+        liveInfoSet.add(LiveInfo(beaconEventId, roomArgs))
         launchWithActiveSession { _roomIdsOfActiveLives.emit(getRoomIdsOfActiveLives()) }
     }
 
     private fun removeRoomArgs(beaconEventId: String) {
         Timber.i("removing roomArgs for beaconEventId: $beaconEventId")
-        roomArgsMap.remove(beaconEventId)
+        liveInfoSet.removeAll { it.beaconEventId == beaconEventId }
         launchWithActiveSession { _roomIdsOfActiveLives.emit(getRoomIdsOfActiveLives()) }
     }
 
@@ -234,7 +248,7 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
                     }
 
     fun getRoomIdsOfActiveLives(): Set<String> {
-        return roomArgsMap.map { it.value.roomId }.toSet()
+        return liveInfoSet.map { it.roomArgs.roomId }.toSet()
     }
 
     override fun onBind(intent: Intent?): IBinder {
@@ -251,5 +265,11 @@ class LocationSharingAndroidService : VectorAndroidService(), LocationTracker.Ca
 
     companion object {
         const val EXTRA_ROOM_ARGS = "EXTRA_ROOM_ARGS"
+        private const val FOREGROUND_SERVICE_NOTIFICATION_ID = 300
     }
+
+    private data class LiveInfo(
+            val beaconEventId: String,
+            val roomArgs: RoomArgs
+    )
 }
diff --git a/vector/src/main/java/im/vector/app/features/notifications/NotificationUtils.kt b/vector/src/main/java/im/vector/app/features/notifications/NotificationUtils.kt
index 2948565d58..b5bd02b9d5 100755
--- a/vector/src/main/java/im/vector/app/features/notifications/NotificationUtils.kt
+++ b/vector/src/main/java/im/vector/app/features/notifications/NotificationUtils.kt
@@ -105,7 +105,7 @@ class NotificationUtils @Inject constructor(
         const val SMART_REPLY_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.SMART_REPLY_ACTION"
         const val DISMISS_SUMMARY_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.DISMISS_SUMMARY_ACTION"
         const val DISMISS_ROOM_NOTIF_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.DISMISS_ROOM_NOTIF_ACTION"
-        private const val TAP_TO_VIEW_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.TAP_TO_VIEW_ACTION"
+        const val TAP_TO_VIEW_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.TAP_TO_VIEW_ACTION"
         const val DIAGNOSTIC_ACTION = "${BuildConfig.APPLICATION_ID}.NotificationActions.DIAGNOSTIC"
         const val PUSH_ACTION = "${BuildConfig.APPLICATION_ID}.PUSH"
 
@@ -118,7 +118,7 @@ class NotificationUtils @Inject constructor(
 
         private const val NOISY_NOTIFICATION_CHANNEL_ID = "DEFAULT_NOISY_NOTIFICATION_CHANNEL_ID"
 
-        private const val SILENT_NOTIFICATION_CHANNEL_ID = "DEFAULT_SILENT_NOTIFICATION_CHANNEL_ID_V2"
+        const val SILENT_NOTIFICATION_CHANNEL_ID = "DEFAULT_SILENT_NOTIFICATION_CHANNEL_ID_V2"
         private const val CALL_NOTIFICATION_CHANNEL_ID = "CALL_NOTIFICATION_CHANNEL_ID_V2"
 
         fun supportNotificationChannels() = (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O)
@@ -540,20 +540,6 @@ class NotificationUtils @Inject constructor(
         return builder.build()
     }
 
-    /**
-     * Creates a notification that indicates the application is retrieving location even if it is in background or killed.
-     */
-    fun buildLiveLocationSharingNotification(): Notification {
-        return NotificationCompat.Builder(context, SILENT_NOTIFICATION_CHANNEL_ID)
-                .setContentTitle(stringProvider.getString(R.string.live_location_sharing_notification_title))
-                .setContentText(stringProvider.getString(R.string.live_location_sharing_notification_description))
-                .setSmallIcon(R.drawable.ic_attachment_location_live_white)
-                .setColor(ThemeUtils.getColor(context, android.R.attr.colorPrimary))
-                .setCategory(NotificationCompat.CATEGORY_LOCATION_SHARING)
-                .setContentIntent(buildOpenHomePendingIntentForSummary())
-                .build()
-    }
-
     /**
      * Creates a notification that indicates the application is capturing the screen.
      */