How to have photos stored both on device and on iCloud?

In short, I'm wondering if there's a way to have photos saved/stored to my actual iPhone storage (the way it would if I did not have iCloud Photos turned on) AND to iCloud at the same time?

More information if it helps: Been struggling recently with my iPhone XR. For years I never did anything with iCloud and always had iCloud Photos turned off. Eventually I had some issues that required a factory reset, so I first purchased 200GB of iCloud+ and did an iCloud backup (still never actively turning on "iCloud Photos") and I actually ended up at an Apple Store to get some help when I had trouble doing a reset/restore.

The restoring process ended up taking a while because I had about 60GB worth of photos, and they were taking a while to load in. The Apple worker seemed surprised to hear I didn't have iCloud Photos turned on, made a comment about the backup being large because of it, and suggested I turn it on then which I did. Once the restore finally finished, my iPhone storage available jumped drastically, and I noticed the photos category went from around 60GB to 3GB. All my photos are still on my phone, and when I log into iCloud on my computer just to check, they are all there as well. When I go to Settings > iCloud > Storage on my iPhone it does appear to show the photos taking up the appropriate amount of space.

My issue is pretty much that I'm an anxious iCloud noob. I've never really dealt with iCloud before and I'm paranoid of future issues. Ideally I want to continue to have all these photos saved in iCloud like they are now, but I'd also just like them stored on the actual device even if it takes up so much storage just because I know now from my recent experience that these will be saved and restored properly if/when needed. I couldnt find any instruction or advice on this so I'm not sure if its even possible, or if maybe that's already the state of my phone and the available storage is just a glitch. Any advice is highly appreciated, thanks!!