I came across the following question linked below though this did not work for me to pass a global ID from Field Maps into Survey123 to filter for a previously submitted survey. But it may work for others.
https://community.esri.com/t5/arcgis-survey123-questions/q-queryparameter-url-parameter-for-survey12...
Alternative is to create a nested repeats survey solely within S123 Connect, and not use Field Maps at all.
1. Create a web map that will include the point feature layer and any other layers or tables desired. Make this web map the Online map in your linked content in Survey123. The features from your survey will appear in the geoshape question within Survey123 when you collect new data and in the Map tab after selecting Inbox in the phone app.
2. In Survey123 Connect with only Inbox enabled make sure to select all options under Inbox including spatial filter when map tab is visible.
3. Creating a new survey will be business as usual within Survey123.
4. For existing surveys, use the Survey123 Inbox Map tab that will spatially filter surveys to show what’s in the desired location. Click the (in the example photo) blue icon and a popup will display view, edit, or copy to a new survey. If editing you can navigate the survey to where the repeat occurs for the related table and add another.
Using OP’s example within Survey123 collect a point for “Raptor Nest”, the first repeat is “Nest Information”, the second repeat is nested within the previous.