UISheetPresentationController Underneath Tab Bar

Question

I am trying to present a UIViewController within a UISheetPresentationController to have a permanent modal that sits below my UITabBarController exactly like how Apple has shown it possible in the "Find My" app:

Reference Code:

let navigationController = UINavigationController(rootViewController: UIViewController());

navigationController.modalPresentationStyle = .formSheet;
if let sheet = navigationController.sheetPresentationController {
    sheet.detents = [.medium(), .large()];
    sheet.prefersGrabberVisible = true;
    sheet.largestUndimmedDetentIdentifier = .medium;
    sheet.prefersScrollingExpandsWhenScrolledToEdge = false;
}

present(navigationController, animated: true);

This post: UISheetPresentationController with a tabBar poses a similar question but does not have any answers.