Can iCloud Photos be set to upload as soon as photo is taken instead of after leaving camera app

If you have an Internet connection via W-Fi or cellular data photos are first saved in the photos app, then uploaded from there to iCloud. You shouldn’t have to leave the camera open for this to work. However, if you are in the habit of going to the multitasking screen and swiping up on apps to close them this can interfere with the way it works.