Maintain correct SCNNode position in ARKit while walking, without calling run and .resetTracking on each CLLocation update - ios

Question

I'm building a simple navigation app with ARKit. The app shows a pin at a destination, which can be far away or nearby. The user is able to walk toward the pin to navigate.
In my ARSCNView I have an SCNNode called waypointNode, which represents the pin at the destination.
To determine where to place the waypointNode, I calculate the distance to the destination in meters, and the bearing (degrees away from North) to the destination. Then, I create and multiply some transformations and apply them to the node to put it in the proper position.
There's also some logic establish a maximum distance away for the waypointNode so it's not too small for the user to see.
This is how I configure the ARSCNView, so the axes line up with the real-world compass directions:
func setUpSceneView() {
let configuration = ARWorldTrackingConfiguration()
configuration.worldAlignment = .gravityAndHeading
configuration.planeDetection = .horizontal
session.run(configuration, options: [.resetTracking])
}
Every time the device gets a new CLLocation from CoreLocation, I update the distance and bearing then call this function to update the position of the waypointNode:
func updateWaypointNode() {
// limit the max distance so the node doesn't become invisible
let distanceLimit: Float = 80
let translationDistance: Float
if navigationInfo.distance > distanceLimit {
translationDistance = distanceLimit
} else {
translationDistance = navigationInfo.distance
}
// transform matrix to adjust node distance
let distanceTranslation = SCNMatrix4MakeTranslation(0, 0, -translationDistance)
// transform matrix to rotate node around y-axis
let rotation = SCNMatrix4MakeRotation(-1 * GLKMathDegreesToRadians(Float(navigationInfo.bearing)), 0, 1, 0)
// multiply the rotation and distance translation matrices
let distanceTimesRotation = SCNMatrix4Mult(distanceTranslation, rotation)
// grab the current camera transform
guard let cameraTransform = session.currentFrame?.camera.transform else { return }
// multiply the rotation and distance translation transform by the camera transform
let finalTransform = SCNMatrix4Mult(SCNMatrix4(cameraTransform), distanceTimesRotation)
// update the waypoint node with this updated transform
waypointNode.transform = finalTransform
}
This works fine when the user first starts the session, and when the user moves less than about 100m.
Once the user covers a significant distance, like over 100m walking or driving, just calling updateWaypointNode() is not enough to maintain the proper position of the node at the destination. When walking toward the node, for example, it's possible for the user to eventually reach the node, even though the user has not reached the destination. Note: This incorrect positioning happens while the session open the whole time, not if the session is interrupted.
As a workaround, I'm also calling setUpSceneView() every time the device gets a location update.
Even though this works OK, it feels wrong to me. It doesn't seem like I should have to call run with the .resetTracking option every time. I think I might just be overlooking something in my translations. I also see some jumpiness in the camera that seems to happen every time run is called when the session is running, so that's less desirable than simply updating translations.
Is there something different I could do to avoid calling run on the session and resetting the tracking every time the device gets a location update?