I use cryptomator for this. On Android it allows auto uploading to any of the major Android-enabled clouds, while encrypting. You do need to keep your vault unlocked though for the auto upload to work, otherwise it will need to catch up whenever you unlock it. Not sure if it has this feature on iOS.

If you share cryptomator and the vault to your family/friends they can access it but it's not possible to look at the pics on the web that way.

The app is also paid but it's a one-time fee and not expensive.