What activities apps running in the background can do is greatly constrained, and generally only what you specifically requested, and only when needed. That can be music, or iOS-mediated notifications, Bluetooth access, navigation positioning, or a few other such.
Outside of those cases, iOS shuts down apps, and those then take few or usually no system resources. While you can see apps in a list of what has run recently, don’t presume any of those are running, or even consuming any resources.
If you want to control which apps can be active in the background (as mediated by iOS, as apps don’t get carte blanche — much to the annoyance of some developers) , see Settings > General > Background App Refresh. This as mentioned by Zachyy above.
To see how much power (or how much of your time) an app consumes, see Settings > Battery.
Apple goes out of its way to design and build iOS and iPadOS try to avoid users needing to manage this, or other aspects of an iPhone or iPad.
……And I see this is an old and apparently recently-retitled thread. Ah, well.