How do I get the location consent prompt back
I tried the solution found here :
Location Consent &amp; undo Remeber This Setting
It did not work the first time.
The second time I left GPS only enabled with GPS on when I rebooted.
That did the trick. 
When the phone rebooted GPS was still in GPS only mode and when I turn GPS off then back on I got the "Improve location accuracy prompt again"