Just to make a small clarification, MSAL doesn't actually issue tokens or decide a token expiration, but rather ingests an acquires token from the Azure AD STS.
MSAL will automatically refresh your access token after expiration when calling AcquireTokenSilentAsync. You're likely not getting automatic silent refreshes due to some kind of token cache miss. It's hard to say the specific issue without seeing your code, but i'll recommend comparing it against the official MSAL Xamarin code sample.
If you're building a Xamarin app, then it's a public client. The default token expirations right now are:
Access Tokens: 1 hour
Refresh Tokens: 90 days, 14 day inactive sliding window
Azure AD does allow you to configure these token expirations in PowerShell. You can define a token lifetime policy and then assign it to the specific Service Principal, across the tenant/organization, or on the application object. The other thing to keep in mind is if you're requesting a token for a specific resource, then the policy must be set on that resource rather than the requesting service principal or app. For more info on this, checkout configuring token lifetime in Azure AD.