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Tap the setting icon

Tap on Privacy

Tap on Location Services

Scroll right to the bottom and tap on System Services

Tap on Frequent Locations

From here you can see a list of all the places a location has been recorded, click any entry to see more detail

You now have a map and list of specific locations visited in that area. Tap on any entry for more detail

The map now zooms into the area and gives you a list of the logged times and dates
If you have privacy concerns over the use and storage of this location information, I suggest you toggle the Frequent Locations switch to OFF.