> there was a VPN app I used that didn't have the "local network access" permission, but was still inexplicably able to get a list of wifi networks I connected to
It is different from continuously getting a list of all SSIDs within your Wi-Fi range, even those you never connected to. This is what allows shady apps infer location (this, and massive databases of SSID matched to coordinates).
What you described is also a feature of WireGuard iOS, and it needed no permission.