There’s a feature request for this and I’m surprised it only has 8 votes: https://forum.inaturalist.org/t/view-true-locations-on-maps-for-observations-with-trusted-hidden-coordinates/2568
If you go to the top right corner of the menu, hover over your profile image, and go to “Edit Observations” (the other version of “Your Observations”), you can see the true map points in pink (with the obscured location orange rectangles underlain): https://www.inaturalist.org/observations/alanbrod?geoprivacy=obscured it only works for your latest 200 observations though.