Trigger action based on time/location

I am trying to trigger send notification when user is X minutes away from destination.
So I can find where they are when they start delivery, and can roughly calculate the time it takes to travel, but want to check location again after some time, how can that be done?
Example - my destination is 20 min away, once I calculate that, I want to check again after 15 min, if they are indeed 5 min away, send notification.

Thanks.

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